Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging

The implementation challenges of cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging are discussed and work on the subject is reviewed. System architecture and sensor fusion are identified as key challenges. A partially decentralized system architecture based on step-wise inertial navigation and step-wise dead reckoning is presented. This architecture is argued to reduce the computational cost and required communication bandwidth by around two orders of magnitude while only giving negligible information loss in comparison with a naive centralized implementation. This makes a joint global state estimation feasible for up to a platoon-sized group of agents. Furthermore, robust and low-cost sensor fusion for the considered setup, based on state space transformation and marginalization, is presented. The transformation and marginalization are used to give the necessary flexibility for presented sampling based updates for the inter-agent ranging and ranging free fusion of the two feet of an individual agent. Finally, characteristics of the suggested implementation are demonstrated with simulations and a real-time system implementation.Comment: 14 page

Implicit Cooperative Positioning in Vehicular Networks

Absolute positioning of vehicles is based on Global Navigation Satellite Systems (GNSS) combined with on-board sensors and high-resolution maps. In Cooperative Intelligent Transportation Systems (C-ITS), the positioning performance can be augmented by means of vehicular networks that enable vehicles to share location-related information. This paper presents an Implicit Cooperative Positioning (ICP) algorithm that exploits the Vehicle-to-Vehicle (V2V) connectivity in an innovative manner, avoiding the use of explicit V2V measurements such as ranging. In the ICP approach, vehicles jointly localize non-cooperative physical features (such as people, traffic lights or inactive cars) in the surrounding areas, and use them as common noisy reference points to refine their location estimates. Information on sensed features are fused through V2V links by a consensus procedure, nested within a message passing algorithm, to enhance the vehicle localization accuracy. As positioning does not rely on explicit ranging information between vehicles, the proposed ICP method is amenable to implementation with off-the-shelf vehicular communication hardware. The localization algorithm is validated in different traffic scenarios, including a crossroad area with heterogeneous conditions in terms of feature density and V2V connectivity, as well as a real urban area by using Simulation of Urban MObility (SUMO) for traffic data generation. Performance results show that the proposed ICP method can significantly improve the vehicle location accuracy compared to the stand-alone GNSS, especially in harsh environments, such as in urban canyons, where the GNSS signal is highly degraded or denied.Comment: 15 pages, 10 figures, in review, 201

Byzantine Attack and Defense in Cognitive Radio Networks: A Survey

The Byzantine attack in cooperative spectrum sensing (CSS), also known as the spectrum sensing data falsification (SSDF) attack in the literature, is one of the key adversaries to the success of cognitive radio networks (CRNs). In the past couple of years, the research on the Byzantine attack and defense strategies has gained worldwide increasing attention. In this paper, we provide a comprehensive survey and tutorial on the recent advances in the Byzantine attack and defense for CSS in CRNs. Specifically, we first briefly present the preliminaries of CSS for general readers, including signal detection techniques, hypothesis testing, and data fusion. Second, we analyze the spear and shield relation between Byzantine attack and defense from three aspects: the vulnerability of CSS to attack, the obstacles in CSS to defense, and the games between attack and defense. Then, we propose a taxonomy of the existing Byzantine attack behaviors and elaborate on the corresponding attack parameters, which determine where, who, how, and when to launch attacks. Next, from the perspectives of homogeneous or heterogeneous scenarios, we classify the existing defense algorithms, and provide an in-depth tutorial on the state-of-the-art Byzantine defense schemes, commonly known as robust or secure CSS in the literature. Furthermore, we highlight the unsolved research challenges and depict the future research directions.Comment: Accepted by IEEE Communications Surveys and Tutoiral

Context Information for Fast Cell Discovery in mm-wave 5G Networks

The exploitation of the mm-wave bands is one of the most promising solutions for 5G mobile radio networks. However, the use of mm-wave technologies in cellular networks is not straightforward due to mm-wave harsh propagation conditions that limit access availability. In order to overcome this obstacle, hybrid network architectures are being considered where mm-wave small cells can exploit an overlay coverage layer based on legacy technology. The additional mm-wave layer can also take advantage of a functional split between control and user plane, that allows to delegate most of the signaling functions to legacy base stations and to gather context information from users for resource optimization. However, mm-wave technology requires high gain antenna systems to compensate for high path loss and limited power, e.g., through the use of multiple antennas for high directivity. Directional transmissions must be also used for the cell discovery and synchronization process, and this can lead to a non-negligible delay due to the need to scan the cell area with multiple transmissions at different directions. In this paper, we propose to exploit the context information related to user position, provided by the separated control plane, to improve the cell discovery procedure and minimize delay. We investigate the fundamental trade-offs of the cell discovery process with directional antennas and the effects of the context information accuracy on its performance. Numerical results are provided to validate our observations.Comment: 6 pages, 8 figures, in Proceedings of European Wireless 201

Thirty Years of Machine Learning: The Road to Pareto-Optimal Wireless Networks

Future wireless networks have a substantial potential in terms of supporting a broad range of complex compelling applications both in military and civilian fields, where the users are able to enjoy high-rate, low-latency, low-cost and reliable information services. Achieving this ambitious goal requires new radio techniques for adaptive learning and intelligent decision making because of the complex heterogeneous nature of the network structures and wireless services. Machine learning (ML) algorithms have great success in supporting big data analytics, efficient parameter estimation and interactive decision making. Hence, in this article, we review the thirty-year history of ML by elaborating on supervised learning, unsupervised learning, reinforcement learning and deep learning. Furthermore, we investigate their employment in the compelling applications of wireless networks, including heterogeneous networks (HetNets), cognitive radios (CR), Internet of things (IoT), machine to machine networks (M2M), and so on. This article aims for assisting the readers in clarifying the motivation and methodology of the various ML algorithms, so as to invoke them for hitherto unexplored services as well as scenarios of future wireless networks.Comment: 46 pages, 22 fig

Spatial Wireless Channel Prediction under Location Uncertainty

Spatial wireless channel prediction is important for future wireless networks, and in particular for proactive resource allocation at different layers of the protocol stack. Various sources of uncertainty must be accounted for during modeling and to provide robust predictions. We investigate two channel prediction frameworks, classical Gaussian processes (cGP) and uncertain Gaussian processes (uGP), and analyze the impact of location uncertainty during learning/training and prediction/testing, for scenarios where measurements uncertainty are dominated by large-scale fading. We observe that cGP generally fails both in terms of learning the channel parameters and in predicting the channel in the presence of location uncertainties.\textcolor{blue}{{} }In contrast, uGP explicitly considers the location uncertainty. Using simulated data, we show that uGP is able to learn and predict the wireless channel