Abstract

The paper considers direction of arrival (DOA) estimation from long-term observations in a very noisy environment. The concern is to derive methods obtaining reasonable DOAs at very low SNR. The noise is assumed zero-mean Gaussian and its variance varies in time and space, causing stationary data models to fit poorly over long observation times. Therefore a heteroscedastic Gaussian noise model is introduced where the variance varies across observations and sensors. The source amplitudes are assumed independent zero-mean complex Gaussian distributed with unknown variances (i.e. the source powers), inspiring stochastic maximum likelihood (ML) DOA estimation. The DOAs of plane waves are estimated from multi-snapshot sensor array data using sparse Bayesian learning (SBL) where the noise is estimated across both sensors and snapshots. This SBL approach is more flexible and performs better …

Abstract

Page 1. Multi-frequency sparse Bayesian learning with noise models Kay L. Gemba1, Santosh Nannuru, and Peter Gerstoft ASA SD FALL 2019 Marine Physical Laboratory of the Scripps Institution of Oceanography University of California at San Diego 1gemba@ucsd.edu 1 Page 2. Presentation objectives We investigate SBL performance and present results for the MFP and beamforming applications using 3 noise models: 1. SBL behaves similarly to an adaptive processor and displays robustness to modest model-data mismatch. SBL performance is compared to the white noise gain constraint (WNGC), MUSIC, and Bartlett processors. 2. Compare SBL performance, implemented with 3 noise models: 1. SBL1: stationary noise, 2. SBL2: non-stationary noise, which is useful when the noise variance evolves across snapshots, 3. SBL3: non-stationary noise in a spatially, non-homogeneous field (example: surface noise) …

Abstract

In this paper, we consider the weighted sum-rate (WSR) maximization problem in a cognitive relaying network under imperfect channel state information (CSI). The secondary network employs cooperative nonorthogonal multiple access (NOMA). We investigate the optimal power allocation and relay precoder design for the secondary network that shares spectrum with the primary network while keeping interference to the primary users below a threshold. We exploit the relation between the WSR and weighted mean-square error (WMSE) to solve the equivalent WSR maximization problem. We consider a practical scenario, where the available CSI of all the links are imperfect. The performance of the proposed solution is robust to the errors in the CSI. The optimization problem is intractable in its original form; however, we reformulate it as a tractable, equivalent optimization problem via certain transformations and approximations. We illustrate the robust performance of the proposed design via numerical simulation results.

Abstract

This paper discusses the concept and parameter design of a Robust Stair Climbing Compliant Modular Robot, capable of tackling stairs with overhangs. Modifying the geometry of the periphery of the wheels of our robot helps in tackling overhangs. Along with establishing a concept design, robust design parameters are set to minimize performance variation. The Grey-based Taguchi Method is adopted for providing an optimal setting for the design parameters of the robot. The robot prototype is shown to have successfully scaled stairs of varying dimensions, with overhang, thus corroborating the analysis performed.

Abstract

Autonomous explorative robots frequently encounter scenarios where multiple future trajectories can be pursued. Often these are cases with multiple paths around an obstacle or trajectory options towards various frontiers. Humans in such situations can inherently perceive and reason about the surrounding environment to identify several possibilities of either manoeuvring around the obstacles or moving towards various frontiers. In this work, we propose a 2 stage Convolutional Neural Network architecture which mimics such an ability to map the perceived surroundings to multiple trajectories that a robot can choose to traverse. The first stage is a Trajectory Proposal Network which suggests diverse regions in the environment which can be occupied in the future. The second stage is a Trajectory Sampling network which provides a finegrained trajectory over the regions proposed by Trajectory Proposal Network. We evaluate our framework in diverse and complicated real life settings. For the outdoor case, we use the KITTI dataset and our own outdoor driving dataset. In the indoor setting, we use an autonomous drone to navigate various scenarios and also a ground robot which can explore the environment using the trajectories proposed by our framework. Our experiments suggest that the framework is able to develop a semantic understanding of the obstacles, open regions and identify diverse trajectories that a robot can traverse. Our comparisons portray the performance gain of the proposed architecture over a diverse set of methods against which it is compared.

Abstract

Planning frameworks for autonomous vehicles must be robust and computationally efficient for real time realization. At the same time, they should accommodate the unpredictable behavior of the other participants and produce safe trajectories. In this paper, we present a computationally efficient hierarchical planning framework for autonomous vehicles that can generate safe trajectories in complex driving scenarios, which are commonly encountered in urban traffic settings. The first level of the proposed framework constructs a Model Predictive Control(MPC) routine using an efficient difference of convex programming approach, that generates smooth and collision-free trajectories. The constraints on curvature and road boundaries are seamlessly integrated into this optimization routine. The second layer is mainly responsible to handle the unpredictable behaviors that are typically exhibited by the other participants of traffic. It is built along the lines of time scaled collision cone(TSCC) which optimize for the velocities along the trajectory to handle such disturbances. We additionally show that our framework maintains optimal balance between temporal and path deviations while executing safe trajectories. To demonstrate the efficacy of the presented framework we validated it in extensive simulations in different driving scenarios like over taking, lane merging and jaywalking among many dynamic and static obstacles.

Abstract

This paper proposes an SVM Enhanced Trajectory Planner for dynamic scenes, typically those encountered in on road settings. Frenet frame based trajectory generation is popular in the context of autonomous driving both in research and industry. We incorporate a safety based maximal margin criteria using a SVM layer that generates control points that are maximally separated from all dynamic obstacles in the scene. A kinematically consistent trajectory generator then computes a path through these waypoints. We showcase through simulations as well as real world experiments on a self driving car that the SVM enhanced planner provides for a larger offset with dynamic obstacles than the regular Frenet frame based trajectory generation. Thereby, the authors argue that such a formulation is inherently suited for navigation amongst pedestrians. We assume the availability of an intent or trajectory prediction module that predicts the future trajectories of all dynamic actors in the scene.

Abstract

Polar codes, introduced by Arikan, achieve the capacity of arbitrary binary-input discrete memoryless channel W under successive cancellation decoding. Any such channel having capacity I(W) and for any coding scheme allowing transmission at rate R, scaling exponent is a parameter which characterizes how fast gap to capacity decreases as a function of code length N for a fixed probability of error. The relation between them is given by N⩾α/(I(W)−R)μ. Scaling exponent for kernels of small size up to L=8 have been exhaustively found. In this paper, we consider product kernels TL obtained by taking Kronecker product of component kernels. We derive the properties of polarizing product kernels relating to number of product kernels, self duality and partial distances in terms of the respective properties of the smaller component kernels. Subsequently, polarization behavior of component kernel Tl is used to calculate scaling exponent of TL=T2⊗Tl. Using this method, we show that μ(T2⊗T5)=3.942. Further, we employ a heuristic approach to construct good kernel of L=14 from kernel having size l=8 having best μ and find μ(T2⊗T7)=3.485.

Abstract

Maximally recoverable codes are a class of codes which recover from all potentially recoverable erasure patterns given the locality constraints of the code. In earlier works, these codes have been studied in the context of codes with locality. The notion of locality has been extended to hierarchical locality, which allows for locality to gradually increase in levels with the increase in the number of erasures. We consider the locality constraints imposed by codes with two-level hierarchical locality and define maximally recoverable codes with data-local and local hierarchical locality. We derive certain properties related to their punctured codes and minimum distance. We give a procedure to construct hierarchical data-local MRCs from hierarchical local MRCs. We provide a construction of hierarchical local MRCs for all parameters. For the case of one global parity, we provide a different construction of hierarchical local MRC over a lower field size

Abstract

Cooperative regenerating codes are regenerating codes designed to tradeoff storage for repair bandwidth in case of multiple node failures. Minimum storage cooperative regenerating (MSCR) codes are a class of cooperative regenerating codes which achieve the minimum storage point of the tradeoff. Recently, these codes have been constructed for all possible parameters (n, k, d, h), where h erasures are repaired by contacting any d surviving nodes. However, these constructions have very large sub-packetization. ε-MSR codes are a class of codes introduced to tradeoff subpacketization level for a slight increase in the repair bandwidth for the case of single node failures. We introduce the framework of ε-MSCR codes which allow for a similar tradeoff for the case of multiple node failures. We present a construction of ε-MSCR codes, which can recover from two node failures, by concatenating a class of MSCR codes and scalar linear codes. We give a repair procedure to repair the ε-MSCR codes in the event of two node failures and calculate the repair bandwidth for the same. We characterize the increase in repair bandwidth incurred by the method in comparison with the optimal repair bandwidth given by the cut-set bound. Finally, we show the subpacketization level of ε-MSCR codes scales logarithmically in the number of nodes