2 research outputs found
Optimal Measurement Policy for Predicting UAV Network Topology
In recent years, there has been a growing interest in using networks of
Unmanned Aerial Vehicles (UAV) that collectively perform complex tasks for
diverse applications. An important challenge in realizing UAV networks is the
need for a communication platform that accommodates rapid network topology
changes. For instance, a timely prediction of network topology changes can
reduce communication link loss rate by setting up links with prolonged
connectivity.
In this work, we develop an optimal tracking policy for each UAV to perceive
its surrounding network configuration in order to facilitate more efficient
communication protocols. More specifically, we develop an algorithm based on
particle swarm optimization and Kalman filtering with intermittent observations
to find a set of optimal tracking policies for each UAV under time-varying
channel qualities and constrained tracking resources such that the overall
network estimation error is minimized.Comment: 5 pages, 5 figures, To appear in Asilomar Conference on Signals,
Systems, and Computer
Kalman Filtering over Fading Channels: Zero-One Laws and Almost Sure Stabilities
In this paper, we investigate probabilistic stability of Kalman filtering
over fading channels modeled by -mixing random processes, where channel
fading is allowed to generate non-stationary packet dropouts with temporal
and/or spatial correlations. Upper/lower almost sure (a.s.) stabilities and
absolutely upper/lower a.s. stabilities are defined for characterizing the
sample-path behaviors of the Kalman filtering. We prove that both upper and
lower a.s. stabilities follow a zero-one law, i.e., these stabilities must
happen with a probability either zero or one, and when the filtering system is
one-step observable, the absolutely upper and lower a.s. stabilities can also
be interpreted using a zero-one law. We establish general stability conditions
for (absolutely) upper and lower a.s. stabilities. In particular, with one-step
observability, we show the equivalence between absolutely a.s. stabilities and
a.s. ones, and necessary and sufficient conditions in terms of packet arrival
rate are derived; for the so-called non-degenerate systems, we also manage to
give a necessary and sufficient condition for upper a.s. stability