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The rising concept of reconfigurable intelligent surface (RIS) has promising potential for Beyond 5G localization applications. We herein investigate different phase profile designs at a reflective RIS, which enable non-line-of-sight…
Reconfigurable Intelligent Surfaces (RISs) have gained immense popularity in recent years because of their ability to improve wireless coverage and their flexibility to adapt to the changes in a wireless environment. These advantages are…
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
Next-generation cellular networks will witness the creation of smart radio environments (SREs), where walls and objects can be coated with reconfigurable intelligent surfaces (RISs) to strengthen the communication and localization coverage…
This paper proposes a novel phase shift design for cell-free massive multiple-input and multiple-output (MIMO) systems assisted by reconfigurable intelligent surface (RIS), which only utilizes channel statistics to achieve the uplink sum…
The advent of Reconfigurable Intelligent Surfaces (RISs) in wireless communication networks unlocks the way to support high frequency radio access (e.g. in millimeter wave) while overcoming their sensitivity to the presence of deep fading…
As mobile robots and autonomous vehicles become increasingly prevalent in human-centred environments, there is a need to control the risk of collision. Perceptual modules, for example machine vision, provide uncertain estimates of object…
The use of Intelligent Reflective Surfaces (IRS) to assist communication and sensing has proven cost-effective in challenging scenarios. For sensing, IRS is shown to sense non-line-of-sight (NLOS) and stealth targets, albeit with…
The evolution of quantization and mixed-precision techniques has unlocked new possibilities for enhancing the speed and energy efficiency of NNs. Several recent studies indicate that adapting precision levels across different parameters can…
With the recent advances in autonomous driving and the decreasing cost of LiDARs, the use of multimodal sensor systems is on the rise. However, in order to make use of the information provided by a variety of complimentary sensors, it is…
This paper introduces a novel model-free and a partially model-free algorithm for inverse optimal control (IOC), also known as inverse reinforcement learning (IRL), aimed at estimating the cost function of continuous-time nonlinear…
In this paper, the novel simultaneously transmitting and reflecting (STAR) reconfigurable intelligent surface (RIS), which enables full-space coverage on users located on both sides of the surface, is investigated in the multi-user mobile…
Safety is a core challenge of autonomous robot motion planning, especially in the presence of dynamic and uncertain obstacles. Many recent results use learning and deep learning-based motion planners and prediction modules to predict…
While optimal input design for linear systems has been well-established, no systematic approach exists for nonlinear systems where robustness to extrapolation/interpolation errors is prioritized over minimizing estimated parameter variance.…
Reconfigurable intelligent surface (RIS) as an emerging cost-effective technology can enhance the spectrum- and energy-efficiency of wireless networks. In this paper, we consider an RIS-aided green edge inference system, where the inference…
This work describes the implementation of a simple and computationally efficient Intelligent Navigation System (INS) for autonomous systems used in areas where human access is impossible. The system uses Laser Range Finder (LRF) readings as…
A new belief space planning algorithm, called covariance steering Belief RoadMap (CS-BRM), is introduced, which is a multi-query algorithm for motion planning of dynamical systems under simultaneous motion and observation uncertainties.…
We describe a convex programming framework for pose estimation in 2D/3D point-set registration with unknown point correspondences. We give two mixed-integer nonlinear program (MINP) formulations of the 2D/3D registration problem when there…
Intelligent reflecting surface (IRS) has shown its effectiveness in facilitating orthogonal time-division integrated sensing and communications (TD-ISAC), in which the sensing task and the communication task occupy orthogonal time-frequency…
This paper presents an optimisation-based approach for an obstacle avoidance problem within an autonomous vehicle racing context. Our control regime leverages online reachability analysis and sensor data to compute the maximal safe…