Bandlimited Spatial Field Sampling with Mobile Sensors in the Absence of Location Information

Sampling of physical fields with mobile sensor is an emerging area. In this context, this work introduces and proposes solutions to a fundamental question: can a spatial field be estimated from samples taken at unknown sampling locations? Unknown sampling location, sample quantization, unknown bandwidth of the field, and presence of measurement-noise present difficulties in the process of field estimation. In this work, except for quantization, the other three issues will be tackled together in a mobile-sampling framework. Spatially bandlimited fields are considered. It is assumed that measurement-noise affected field samples are collected on spatial locations obtained from an unknown renewal process. That is, the samples are obtained on locations obtained from a renewal process, but the sampling locations and the renewal process distribution are unknown. In this unknown sampling location setup, it is shown that the mean-squared error in field estimation decreases as $O(1/n)$ where $n$ is the average number of samples collected by the mobile sensor. The average number of samples collected is determined by the inter-sample spacing distribution in the renewal process. An algorithm to ascertain spatial field's bandwidth is detailed, which works with high probability as the average number of samples $n$ increases. This algorithm works in the same setup, i.e., in the presence of measurement-noise and unknown sampling locations.Comment: Submitted to IEEE Trans on Signal Processin

Optimal Quantization of TV White Space Regions for a Broadcast Based Geolocation Database

In the current paradigm, TV white space databases communicate the available channels over a reliable Internet connection to the secondary devices. For places where an Internet connection is not available, such as in developing countries, a broadcast based geolocation database can be considered. This geolocation database will broadcast the TV white space (or the primary services protection regions) on rate-constrained digital channel. In this work, the quantization or digital representation of protection regions is considered for rate-constrained broadcast geolocation database. Protection regions should not be declared as white space regions due to the quantization error. In this work, circular and basis based approximations are presented for quantizing the protection regions. In circular approximation, quantization design algorithms are presented to protect the primary from quantization error while minimizing the white space area declared as protected region. An efficient quantizer design algorithm is presented in this case. For basis based approximations, an efficient method to represent the protection regions by an `envelope' is developed. By design this envelope is a sparse approximation, i.e., it has lesser number of non-zero coefficients in the basis when compared to the original protection region. The approximation methods presented in this work are tested using three experimental data-sets.Comment: 8 pages, 12 figures, submitted to IEEE DySPAN (Technology) 201

High-resolution distributed sampling of bandlimited fields with low-precision sensors

The problem of sampling a discrete-time sequence of spatially bandlimited fields with a bounded dynamic range, in a distributed, communication-constrained, processing environment is addressed. A central unit, having access to the data gathered by a dense network of fixed-precision sensors, operating under stringent inter-node communication constraints, is required to reconstruct the field snapshots to maximum accuracy. Both deterministic and stochastic field models are considered. For stochastic fields, results are established in the almost-sure sense. The feasibility of having a flexible tradeoff between the oversampling rate (sensor density) and the analog-to-digital converter (ADC) precision, while achieving an exponential accuracy in the number of bits per Nyquist-interval per snapshot is demonstrated. This exposes an underlying ``conservation of bits'' principle: the bit-budget per Nyquist-interval per snapshot (the rate) can be distributed along the amplitude axis (sensor-precision) and space (sensor density) in an almost arbitrary discrete-valued manner, while retaining the same (exponential) distortion-rate characteristics. Achievable information scaling laws for field reconstruction over a bounded region are also derived: With N one-bit sensors per Nyquist-interval, $\Theta(\log N)$ Nyquist-intervals, and total network bitrate $R_{net} = \Theta((\log N)^2)$ (per-sensor bitrate $\Theta((\log N)/N)$), the maximum pointwise distortion goes to zero as $D = O((\log N)^2/N)$ or $D = O(R_{net} 2^{-\beta \sqrt{R_{net}}})$. This is shown to be possible with only nearest-neighbor communication, distributed coding, and appropriate interpolation algorithms. For a fixed, nonzero target distortion, the number of fixed-precision sensors and the network rate needed is always finite.Comment: 17 pages, 6 figures; paper withdrawn from IEEE Transactions on Signal Processing and re-submitted to the IEEE Transactions on Information Theor

Lane following using behavioural cloning

With the rise in the research relating to Artificial Intelligence along with the growing concern of everyday road accidents due to human error, the research pertaining to Autonomous Vehicles has been soaring to new highs. However, this technology in its current form has serious limitations such as restricted use during adverse conditions (such as snow), inability to identify manual traffic instructions, abnormal traffic behaviours etc. This is one of the reasons that even the vehicles with most autonomous features, exhibit only a Level 2 or Level 3 of driving automation. Hence, in order to reach further levels of automation, it may be useful to create a symbiotic technology between autonomous vehicles and traffic control models. This thesis work will work as an elementary stepping stone to create such a symbiosis by identifying a Lane Following Model using Convolutional Neural Networks. Specifically, a Behavioural Cloning Model along with a Road Classification Model is developed in order to mimic human driving characteristics which ideally works independent of lane markings and to regulate this driving characteristics by reading road signs with satisfactory levels of accuracy