相关论文: On Improved Commutation for Moving-Magnet Planar A…
In this paper, we propose a new multiple-input multiple-output (MIMO) communication system with movable antennas (MAs) to exploit the antenna position optimization for enhancing the capacity. Different from conventional MIMO systems with…
The rapid increasing demand of wireless transmission has incurred mobile broadband to continuously evolve through multiple frequency bands, massive antennas and other multi-stream processing schemes. Together with the improved data…
In this work, we present MoMa-Pos, a framework that optimizes base placement for mobile manipulators, focusing on navigation-manipulation tasks in environments with both rigid and articulated objects. Base placement is particularly critical…
Movable antennas (MAs) have recently garnered significant attention in wireless communications due to their capability to reshape wireless channels via local antenna movement within a confined region. However, to achieve accurate antenna…
In this paper, we propose an integrated sensing and communication (ISAC) system aided by the movable-antenna (MA) array, which can improve the communication and sensing performance via flexible antenna movement over conventional…
This paper studies a novel movable antenna (MA)-enhanced multiple-input multiple-output (MIMO) system to leverage the corresponding spatial degrees of freedom (DoFs) for improving the performance of wireless communications. We aim to…
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…
Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…
As an emerging wireless communication technology, movable antennas (MAs) offer the ability to adjust the spatial correlation of steering vectors, enabling more flexible beamforming compared to fixed-position antennas (FPAs). In this paper,…
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…
Unmanned micro aerial vehicle research is an active area of development due to the vast potential applications. Prior work towards realizing flapping flight has achieved some success however they have relied heavily upon the use of rotary…
Movable antennas (MAs) have attracted significant attention in wireless communications due to their ability to reconfigure channel conditions by flexibly adjusting the antenna positions within a confined region. However, MA movement…
Movable antennas (MAs) offer additional spatial degrees of freedom (DoFs) to enhance communication performance through local antenna movement. However, to achieve accurate and fast antenna movement, MA drivers entail non-negligible…
Movable antennas (MAs) are a promising paradigm to enhance the spatial degrees of freedom of conventional multi-antenna systems by flexibly adapting the positions of the antenna elements within a given transmit area. In this paper, we model…
Growing demands in the semiconductor industry result in the need for enhanced performance of lithographic equipment. However, position tracking accuracy of high precision mechatronics is often limited by the presence of disturbance sources,…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
In complex urban environments, dynamic obstacles and multipath effects lead to significant link attenuation and pervasive coverage blind spots. Conventional approaches based on large-scale fixed antenna arrays and UAV trajectory…
Movable antenna (MA) systems have emerged as a promising technology for future wireless communication systems. The movement of antennas gives rise to mutual coupling (MC) effects, which have been previously ignored and can be exploited to…
This paper is devoted to the study of the dynamic optimization of several controlled crowd motion models in the general planar settings, which is an application of a class of optimal control problems involving a general nonconvex sweeping…
Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…