6,131 research outputs found
A mosaic of eyes
Autonomous navigation is a traditional research topic in intelligent robotics and vehicles, which requires a robot to perceive its environment through onboard sensors such as cameras or laser scanners, to enable it to drive to its goal. Most research to date has focused on the development of a large and smart brain to gain autonomous capability for robots. There are three fundamental questions to be answered by an autonomous mobile robot: 1) Where am I going? 2) Where am I? and 3) How do I get there? To answer these basic questions, a robot requires a massive spatial memory and considerable computational resources to accomplish perception, localization, path planning, and control. It is not yet possible to deliver the centralized intelligence required for our real-life applications, such as autonomous ground vehicles and wheelchairs in care centers. In fact, most autonomous robots try to mimic how humans navigate, interpreting images taken by cameras and then taking decisions accordingly. They may encounter the following difficulties
Distributed video coding for wireless video sensor networks: a review of the state-of-the-art architectures
Distributed video coding (DVC) is a relatively new video coding architecture originated from two fundamental theorems namely, Slepian–Wolf and Wyner–Ziv. Recent research developments have made DVC attractive for applications in the emerging domain of wireless video sensor networks (WVSNs). This paper reviews the state-of-the-art DVC architectures with a focus on understanding their opportunities and gaps in addressing the operational requirements and application needs of WVSNs
6G White Paper on Machine Learning in Wireless Communication Networks
The focus of this white paper is on machine learning (ML) in wireless
communications. 6G wireless communication networks will be the backbone of the
digital transformation of societies by providing ubiquitous, reliable, and
near-instant wireless connectivity for humans and machines. Recent advances in
ML research has led enable a wide range of novel technologies such as
self-driving vehicles and voice assistants. Such innovation is possible as a
result of the availability of advanced ML models, large datasets, and high
computational power. On the other hand, the ever-increasing demand for
connectivity will require a lot of innovation in 6G wireless networks, and ML
tools will play a major role in solving problems in the wireless domain. In
this paper, we provide an overview of the vision of how ML will impact the
wireless communication systems. We first give an overview of the ML methods
that have the highest potential to be used in wireless networks. Then, we
discuss the problems that can be solved by using ML in various layers of the
network such as the physical layer, medium access layer, and application layer.
Zero-touch optimization of wireless networks using ML is another interesting
aspect that is discussed in this paper. Finally, at the end of each section,
important research questions that the section aims to answer are presented
Kalman Filtering With Relays Over Wireless Fading Channels
This note studies the use of relays to improve the performance of Kalman
filtering over packet dropping links. Packet reception probabilities are
governed by time-varying fading channel gains, and the sensor and relay
transmit powers. We consider situations with multiple sensors and relays, where
each relay can either forward one of the sensors' measurements to the
gateway/fusion center, or perform a simple linear network coding operation on
some of the sensor measurements. Using an expected error covariance performance
measure, we consider optimal and suboptimal methods for finding the best relay
configuration, and power control problems for optimizing the Kalman filter
performance. Our methods show that significant performance gains can be
obtained through the use of relays, network coding and power control, with at
least 30-40 less power consumption for a given expected error covariance
specification.Comment: 7 page
Gossip Algorithms for Distributed Signal Processing
Gossip algorithms are attractive for in-network processing in sensor networks
because they do not require any specialized routing, there is no bottleneck or
single point of failure, and they are robust to unreliable wireless network
conditions. Recently, there has been a surge of activity in the computer
science, control, signal processing, and information theory communities,
developing faster and more robust gossip algorithms and deriving theoretical
performance guarantees. This article presents an overview of recent work in the
area. We describe convergence rate results, which are related to the number of
transmitted messages and thus the amount of energy consumed in the network for
gossiping. We discuss issues related to gossiping over wireless links,
including the effects of quantization and noise, and we illustrate the use of
gossip algorithms for canonical signal processing tasks including distributed
estimation, source localization, and compression.Comment: Submitted to Proceedings of the IEEE, 29 page
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