Related papers: Communications-Aware NMPC for Multi-Rotor Aerial R…
Nonlinear Model Predictive Control (NMPC) is a powerful and widely used technique for nonlinear dynamic process control under constraints. In NMPC, the state and control weights of the corresponding state and control costs are commonly…
This paper presents a stochastic/robust nonlinear model predictive control (NMPC) to enhance the robustness of model-based legged locomotion against contact uncertainties. We integrate the contact uncertainties into the covariance…
In this paper, we propose an anti-jamming communication framework for orthogonal frequency-division multiplexing (OFDM) systems under jamming attacks. To this end, we first develop an anti-jamming modulation scheme that uses a spreading…
Modern transportation infrastructures are considered as one of the main sources of the greenhouse gases emitted into the atmosphere. This situation requires the decision-making players to enact the mass use of electric vehicles (EVs) which,…
This article proposes an approach for collision avoidance, path following, and anti-grounding of autonomous surface vessels under consideration of environmental forces based on Nonlinear Model Predictive Control (NMPC). Artificial Potential…
In this paper, we investigate the joint resource allocation and trajectory design for a multi-user, multi-target unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC) system, where the link capacity between a…
The spectrum share and open nature of wireless channels enable integrated sensing and communication (ISAC) susceptible to hostile jamming attacks. Due to the intrinsic orthogonality and rich azimuth angle information of orbital angular…
Wireless communication plays a vital role in the promising performance of connected and automated vehicle (CAV) technology. This paper proposes a Vissim-based microscopic traffic simulation framework with an analytical dedicated short-range…
In this paper, we consider an unmanned aerial vehicle-enabled interference channel (UAV-IC), where each of the $K$ UAVs communicates with its associated ground terminals (GTs) at the same time and over the same spectrum. To exploit the new…
Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…
For critical services, such as traffic safety and traffic efficiency, it is advisable to design systems with robustness as the main criteria, possibly at the price of reduced peak performance and efficiency. Ensuring robust communications…
This paper proposes an integrated sensing, navigation, and communication (ISNC) framework for safeguarding unmanned aerial vehicle (UAV)-enabled wireless networks against a mobile eavesdropping UAV (E-UAV). To cope with the mobility of the…
In this work, we present a framework analysis of millimeter waves (mmWaves) vehicular communications systems. Communications between vehicles take place through a cooperative relay which acts as an intermediary base station (BS). The relay…
Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far…
Close-proximity offshore wind turbine inspection requires strict clearance control around large cylindrical structures under wind and model mismatch. Nominal Nonlinear Model Predictive Control (NMPC) may violate safety constraints when…
Among various satellite actuators, magnetic torquers have been widely equipped for stabilization and attitude control of small satellites. Although magnetorquers are generally used with other actuators, such as momentum wheels, this paper…
This letter investigates the transmit power and trajectory optimization problem for unmanned aerial vehicle (UAV)-aided networks. Different from majority of the existing studies with fixed communication infrastructure, a dynamic scenario is…
Joint radar-communication (JRC) waveform can be used for simultaneous radar detection and communication in the same frequency band. However, radar detection processing requires the prior knowledge of the waveform including the embedded…
Millimeter wave (mmWave) communication systems use large number of antenna elements that can potentially overcome severe channel attenuation by narrow beamforming. Narrow-beam operation in mmWave networks also reduces multiuser…
We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. We assume navigation without GPS-like techniques. The MAVs find their path using sensors and cameras, identifying and following a series of visual…