Related papers: Communications-Aware NMPC for Multi-Rotor Aerial R…
Covert communication is often limited in rate because it is difficult to hide the signal in the background noise. Recent work has shown that jamming can significantly improve the rate at which covert communications can be conducted;…
A large-scale mobile robot (LSMR) is a high-order multibody system that often operates on loose, unconsolidated terrain, which reduces traction. This paper presents a comprehensive navigation and control framework for an LSMR that ensures…
Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…
This is an extended version of a technical note accepted for publication in IEEE Transactions on Automatic Control. The note proposes an Input to State practically Stable (ISpS) formulation of distributed nonlinear model predictive…
In this paper, we investigate a secure communication architecture based on unmanned aerial vehicle (UAV), which enhances the security performance of the communication system through UAV trajectory optimization. We formulate a control…
Platoons of autonomous vehicles are being investigated as a way to increase road capacity and fuel efficiency. Cooperative Adaptive Cruise Control (CACC) is one approach to controlling platoons longitudinal dynamics, which requires wireless…
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with…
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…
The inherent vulnerability of wireless communication necessitates strategies to enhance its security, particularly in the face of jamming attacks. This paper uses the collaborations of multiple sensing nodes (SNs) in the wireless network to…
Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering…
Connected automated vehicles (CAVs) possess the ability to communicate and coordinate with one another, enabling cooperative platooning that enhances both energy efficiency and traffic flow. However, during the initial stage of CAV…
In this paper, we consider the design of a multiple-input multiple-output (MIMO) transmitter which simultaneously functions as a MIMO radar and a base station for downlink multiuser communications. In addition to a power constraint, we…
In this paper, we investigate a hybrid scheme that combines nonlinear model predictive control (MPC) and model-based reinforcement learning (RL) for navigation planning of an autonomous model car across offroad, unstructured terrains…
Communication-aware control is essential to reduce costs and complexity in large-scale networks. However, it is challenging to simultaneously determine a sparse communication topology and achieve high performance and robustness. This work…
This paper addresses the design of transmit precoder and receive combiner matrices to support $N_{\rm s}$ independent data streams over a time-division duplex (TDD) point-to-point massive multiple-input multiple-output (MIMO) channel with…
Robust optimal or min-max model predictive control (MPC) approaches aim to guarantee constraint satisfaction over a known, bounded uncertainty set while minimizing a worst-case performance bound. Traditionally, these methods compute a…
Wireless relays can effectively extend the transmission range of information. However, if relay technology is utilized unlawfully, it can amplify potential harm. Effectively surveilling illegitimate relay links poses a challenging problem.…
MPC (Model Predictive Control) techniques, with constraints, are applied to a nonlinear vehicle model for the development of an ACC (Adaptive Cruise Control) system for transitional manoeuvres. The dynamic model of the vehicle is developed…
Movable antenna (MA) is an emerging technology which can reconfigure wireless channels via adaptive antenna position adjustments at transceivers, thereby bringing additional spatial degrees of freedom for improving system performance. In…
The deployment of Unmanned Aerial Vehicle (UAV) swarms as dynamic communication relays is critical for next-generation tactical networks. However, operating in contested environments requires solving a complex trade-off, including…