The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a robot's location as it navigates. The accuracy of such a beacon-based localization system depends both on how beacons are distributed in the environment, and how the robot's location is inferred based on noisy and potentially ambiguous measurements. We propose an approach for making these design decisions automatically and without expert supervision, by explicitly searching for the placement and inference strategies that, together, are optimal for a given environment. Since this search is computationally expensive, our approach encodes beacon placement as a differential neural layer that interfaces with a neural network for inference. This formulation allows us to employ standard techniques for training neural networks to carry out the joint optimization. We evaluate this approach on a variety of environments and settings, and find that it is able to discover designs that enable high localization accuracy.
In many scenarios, beacon allocation includes choosing both the location and channel for each beacon. These problems are typically assumed to be decoupled---the location of each beacon is first determined and then their channels are chosen to minimize interference @cite_10 This can result in a sub-optimal allocation. An exception is , who jointly solve access point placement and channel selection using a local search approximation, however they seek to maximize communication throughput, which is a more straightforward objective than localization and does not require reasoning over inference.
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This paper considers a two-user Gaussian interference channel with energy harvesting transmitters. Different than conventional battery powered wireless nodes, energy harvesting transmitters have to adapt transmission to availability of energy at a particular instant. In this setting, the optimal power allocation problem to maximize the sum throughput with a given deadline is formulated. The convergence of the proposed iterative coordinate descent method for the problem is proved and the short-term throughput maximizing offline power allocation policy is found. Examples for interference regions with known sum capacities are given with directional waterfilling interpretations. Next, stochastic data arrivals are addressed. Finally, online and or distributed near-optimal policies are proposed. Performance of the proposed algorithms are demonstrated through simulations. In this paper, we study resource allocation for multiuser multiple-input–single-output secondary communication systems with multiple system design objectives. We consider cognitive radio (CR) networks where the secondary receivers are able to harvest energy from the radio frequency when they are idle. The secondary system provides simultaneous wireless power and secure information transfer to the secondary receivers. We propose a multiobjective optimization framework for the design of a Pareto-optimal resource allocation algorithm based on the weighted Tchebycheff approach. In particular, the algorithm design incorporates three important system design objectives: total transmit power minimization, energy harvesting efficiency maximization, and interference-power-leakage-to-transmit-power ratio minimization. The proposed framework takes into account a quality-of-service (QoS) requirement regarding communication secrecy in the secondary system and the imperfection of the channel state information (CSI) of potential eavesdroppers (idle secondary receivers and primary receivers) at the secondary transmitter. The proposed framework includes total harvested power maximization and interference power leakage minimization as special cases. The adopted multiobjective optimization problem is nonconvex and is recast as a convex optimization problem via semidefinite programming (SDP) relaxation. It is shown that the global optimal solution of the original problem can be constructed by exploiting both the primal and the dual optimal solutions of the SDP-relaxed problem. Moreover, two suboptimal resource allocation schemes for the case when the solution of the dual problem is unavailable for constructing the optimal solution are proposed. Numerical results not only demonstrate the close-to-optimal performance of the proposed suboptimal schemes but unveil an interesting tradeoff among the considered conflicting system design objectives as well. In this paper, we propose a joint subchannel and power allocation algorithm for the downlink of an orthogonal frequency-division multiple access (OFDMA) mixed femtocell macrocell network deployment. Specifically, the total throughput of all femtocell user equipments (FUEs) is maximized while the network capacity of an existing macrocell is always protected. Towards this end, we employ an iterative approach in which OFDM subchannels and transmit powers of base stations (BS) are alternatively assigned and optimized at every step. For a fixed power allocation, we prove that the optimal policy in each cell is to give each subchannel to the user with the highest signal-to-interference-plus-noise ratio (SINR) on that subchannel. For a given subchannel assignment, we adopt the successive convex approximation (SCA) approach and transform the highly nonconvex power allocation problem into a sequence of convex subproblems. In the arithmetic-geometric mean (AGM) approximation, we apply geometric programming to find optimal solutions after condensing a posynomial into a monomial. On the other hand, logarithmic and d ifference-of-two- c oncave-functions (D.C.) approximations lead us to solving a series of convex relaxation programs. With the three proposed SCA-based power optimization solutions, we show that the overall joint subchannel and power allocation algorithm converges to some local maximum of the original design problem. While a central processing unit is required to implement the AGM approximation-based solution, each BS locally computes the optimal subchannel and power allocation for its own servicing cell in the logarithmic and D.C. approximation-based solutions. Numerical examples confirm the merits of the proposed algorithm. We propose and investigate a compressive architecture for estimation and tracking of sparse spatial channels in millimeter (mm) wave picocellular networks. The base stations are equipped with antenna arrays with a large number of elements (which can fit within compact form factors because of the small carrier wavelength) and employ radio frequency (RF) beamforming, so that standard least squares adaptation techniques (which require access to individual antenna elements) are not applicable. We focus on the downlink, and show that “compressive beacons,” transmitted using pseudorandom phase settings at the base station array, and compressively processed using pseudorandom phase settings at the mobile array, provide information sufficient for accurate estimation of the two-dimensional (2D) spatial frequencies associated with the directions of departure of the dominant rays from the base station, and the associated complex gains. This compressive approach is compatible with coarse phase-only control, and is based on a near-optimal sequential algorithm for frequency estimation which approaches the Cramer Rao Lower Bound. The algorithm exploits the geometric continuity of the channel across successive beaconing intervals to reduce the overhead to less than 1 even for very large ( @math ) arrays. Compressive beaconing is essentially omnidirectional, and hence does not enjoy the SNR and spatial reuse benefits of beamforming obtained during data transmission. We therefore discuss system level design considerations for ensuring that the beacon SNR is sufficient for accurate channel estimation, and that inter-cell beacon interference is controlled by an appropriate reuse scheme. Communication over a broadband fading channel powered by an energy harvesting transmitter is studied. Assuming non-causal knowledge of energy data arrivals and channel gains, optimal transmission schemes are identified by taking into account the energy cost of the processing circuitry as well as the transmission energy. A constant processing cost for each active sub-channel is assumed. Three different system objectives are considered: i) throughput maximization, in which the total amount of transmitted data by a deadline is maximized for a backlogged transmitter with a finite capacity battery; ii) energy maximization, in which the remaining energy in an infinite capacity battery by a deadline is maximized such that all the arriving data packets are delivered; iii) transmission completion time minimization, in which the delivery time of all the arriving data packets is minimized assuming infinite size battery. For each objective, a convex optimization problem is formulated, the properties of the optimal transmission policies are identified, and an algorithm which computes an optimal transmission policy is proposed. Finally, based on the insights gained from the offline optimizations, low-complexity online algorithms performing close to the optimal dynamic programming solution for the throughput and energy maximization problems are developed under the assumption that the energy data arrivals and channel states are known causally at the transmitter. In this paper, we study resource allocation for a multicarrier-based cognitive radio (CR) network. More specifically, we investigate the problem of secondary users’ energy-efficiency (EE) maximization problem under secondary total power and primary interference constraints. First, assuming cooperation among the secondary base stations (BSs), a centralized approach is considered to solve the EE optimization problem for the CR network where the primary and secondary users are using either orthogonal frequency-division multiplexing (OFDM) or filter bank based multicarrier (FBMC) modulations. We propose an alternating-based approach to solve the joint power-subcarrier allocation problem. More importantly, in the first place, subcarriers are allocated using a heuristic method for a given feasible power allocation. Then, we conservatively approximate the nonconvex power control problem and propose a joint successive convex approximation-Dinkelbach algorithm (SCADA) to efficiently obtain a solution to the nonconvex power control problem. The proposed algorithm is shown to converge to a solution that coincides with the stationary point of the original nonconvex power control subproblem. Moreover, we propose a dual decomposition-based decentralized version of the SCADA. Second, under the assumption of no cooperation among the secondary BSs, we propose a fully distributed power control algorithm from the perspective of game theory. The proposed algorithm is shown to converge to a Nash-equilibrium (NE) point. Moreover, we propose a sufficient condition that guarantees the uniqueness of the achieved NE. Extensive simulation analyses are further provided to highlight the advantages and demonstrate the efficiency of our proposed schemes. Consider media streaming in MIMO interference networks whereby multiple base stations (BS) simultaneously deliver media to their associated users using fixed data rates. The performance is fundamentally limited by the cross-link interference. We propose a cache-induced opportunistic cooperative MIMO (CoMP) for interference mitigation. By caching a portion of the media files, the BSs opportunistically employ CoMP to transform the cross-link interference into spatial multiplexing gain. We study a mixed-timescale optimization of MIMO precoding and cache control to minimize the transmit power under the rate constraint. The cache control is to create more CoMP opportunities and is adaptive to the long-term popularity of the media files. The precoding is to guarantee the rate requirement and is adaptive to the channel state information and cache state at the BSs. The joint stochastic optimization problem is decomposed into a short-term precoding and a long-term cache control problem. We propose a precoding algorithm which converges to a stationary point of the short-term problem. Based on this, we exploit the hidden convexity of the long-term problem and propose a low complexity and robust solution using stochastic subgradient. The solution has significant gains over various baselines and does not require explicit knowledge of the media popularity. We consider the joint optimization of beamformers and linear receivers in a MIMO interference network. Each transmitter transmits a single beam corresponding to a rank-one precoder. When the number of users K is greater than the number of antennas at each terminal N, the maximum degrees of freedom is achieved via spatial interference alignment. Interference alignment is feasible for up to K = 2N−1 users, in which case there is a finite number of solutions to the alignment conditions. This number of solutions increases rapidly with N, and the solutions depend only on the cross-channel coefficients (i. e., they are independent of the direct channels). To maximize the achievable sum rate at high SNRs we therefore wish to select an aligned solution which is best matched to the direct channels. We evaluate the performance of this scheme for large K and N, assuming that the solution is the best out of a random subset of aligned solutions. We then compare numerically this performance with the performance of previously proposed numerical (e. g., forward-backward) techniques for optimizing beams, and a new technique which tracks the local optimum as the SNR is incrementally increased, similar to a homotopy method for improving convergence properties. We observe that the incremental technique typically achieves better performance than the previously proposed methods. Universal mobile telecommunication system (UMTS) networks should be deployed according to cost-effective strategies that optimize a cost objective and satisfy target quality-of-service (QoS) requirements. In this paper, we propose novel algorithms for joint uplink downlink UMTS radio planning with the objective of minimizing total power consumption in the network. Specifically, we define two components of the radio planning problem: 1) continuous-based site placement and 2) integer-based site selection. In the site-placement problem, our goal is to find the optimal locations of UMTS base stations (BSs) in a certain geographic area with a given user distribution to minimize the total power expenditure such that a satisfactory level of downlink and uplink signal-to-interference ratio (SIR) is maintained with bounded outage constraints. We model the problem as a constrained optimization problem with SIR-based uplink and downlink power control scheme. An algorithm is proposed and implemented using pattern search techniques for derivative-free optimization with augmented Lagrange multiplier estimates to support general constraints. In the site-selection problem, we aim to select the minimum set of BSs from a fixed set of candidate sites that satisfies quality and outage constraints. We develop an efficient elimination algorithm by proposing a method for classifying BSs that are critical for network coverage and QoS. Finally, the problem is reformulated to take care of location constraints whereby the placement of BSs in a subset of the deployment area is not permitted due to, e.g., private property limitations or electromagnetic radiation constraints. Experimental results and optimal tradeoff curves are presented and analyzed for various scenarios. Cooperative inter-vehicular applications rely on the exchange of broadcast single-hop status messages among vehicles, called beacons. The aggregated load on the wireless channel due to periodic beacons can prevent the transmission of other types of messages, what is called channel congestion due to beaconing activity. In this paper we approach the problem of controlling the beaconing rate on each vehicle by modeling it as a Network Utility Maximization (NUM) problem. This allows us to formally define the notion of fairness of a beaconing rate allocation in vehicular networks. The NUM model provides a rigorous framework to design a broad family of simple and decentralized algorithms, with proved convergence guarantees to a fair allocation solution. In this context, we propose the Fair Adaptive Beaconing Rate for Intervehicular Communications (FABRIC) algorithm, which uses a particular scaled gradient projection algorithm to solve the dual of the NUM problem. Simulation results validate our approach and show that, unlike recent proposals, FABRIC converges to fair rate allocations in multi-hop and dynamic scenarios. Consider a MIMO interference channel whereby each transmitter and receiver are equipped with multiple antennas. The basic problem is to design optimal linear transceivers (or beamformers) that can maximize system throughput. The recent work [13] suggests that optimal beamformers should maximize the total degrees of freedom and achieve interference alignment in high SNR. In this paper we first consider the interference alignment problem in spatial domain and prove that the problem of maximizing the total degrees of freedom for a given MIMO interference channel is NP-hard. Furthermore, we show that even checking the achievability of a given tuple of degrees of freedom for all receivers is NP-hard when each receiver is equipped with at least three antennas. Moreover, in case where each transmitter and receiver use at most two antennas, the same problem is polynomial time solvable. Finally, we propose a distributed algorithm for transmit covariance matrix design, while assuming each receiver uses a linear MMSE beamformer. The simulation results show that the proposed algorithm outperforms the existing interference alignment algorithms in terms of system throughput. This paper considers the optimum single cell power control maximizing the aggregate (uplink) communication rate of the cell when there are peak power constraints at mobile users, and a low-complexity data decoder (without successive decoding) at the base station. It is shown that the optimum power allocation is binary, which means that links are either “on” or “off.” By exploiting further structure of the optimum binary power allocation, a simple polynomial-time algorithm for finding the optimum transmission power allocation is proposed, together with a reduced complexity near-optimal heuristic algorithm. Sufficient conditions under which channel-state aware time division multiple access (TDMA) maximizes the aggregate communication rate are established. In a numerical study, we compare and contrast the performance achieved by the optimum binary power-control policy with other suboptimum policies and the throughput capacity achievable via successive decoding. It is observed that two dominant modes of communication arise, wideband or TDMA, and that successive decoding achieves better sum-rates only under near perfect interference cancellation efficiency. In this paper, we exploit the theory of majorization to obtain the aforementioned results. In the final part of this paper, we do so to solve power-control problems in the areas of femtocells and cognitive radio and find that, again, optimal solutions have a binary (or almost binary) character. In this paper, we study the resource allocation and user scheduling problem for a downlink non-orthogonal multiple access network where the base station allocates spectrum and power resources to a set of users. We aim to jointly optimize the sub-channel assignment and power allocation to maximize the weighted total sum-rate while taking into account user fairness. We formulate the sub-channel allocation problem as equivalent to a many-to-many two-sided user-subchannel matching game in which the set of users and sub-channels are considered as two sets of players pursuing their own interests. We then propose a matching algorithm, which converges to a two-side exchange stable matching after a limited number of iterations. A joint solution is thus provided to solve the sub-channel assignment and power allocation problems iteratively. Simulation results show that the proposed algorithm greatly outperforms the orthogonal multiple access scheme and a previous non-orthogonal multiple access scheme. In this paper, we study power allocation for secure communication in a multiuser multiple-input single-output (MIS-O) downlink system with simultaneous wireless information and power transfer. The receivers are able to harvest energy from the radio frequency when they are idle. We propose a multi-objective optimization problem for power allocation algorithm design which incorporates two conflicting system objectives: total transmit power minimization and energy harvesting efficiency maximization. The proposed problem formulation takes into account a quality of service (QoS) requirement for the system secrecy capacity. Our designs advocate the dual use of artificial noise in providing secure communication and facilitating efficient energy harvesting. The multi-objective optimization problem is non-convex and is solved by a semidefinite programming (SDP) relaxation approach which results in an approximate of solution. A sufficient condition for the global optimal solution is revealed and the accuracy of the approximation is examined. To strike a balance between computational complexity and system performance, we propose two suboptimal power allocation schemes. Numerical results not only demonstrate the excellent performance of the proposed suboptimal schemes compared to baseline schemes, but also unveil an interesting trade-off between energy harvesting efficiency and total transmit power. In this paper, we study resource allocation in a downlink OFDMA system assuming imperfect channel state information (CSI) at the transmitter. To achieve the individual QoS of the users in OFDMA system, adaptive resource allocation is very important, and has therefore been an active area of research. However, in most of the the previous work perfect CSI at the transmitter is assumed which is rarely possible due to channel estimation error and feedback delay. In this paper, we study the effect of channel estimation error on resource allocation in a downlink OFDMA system. We assume that each user terminal estimates its channel by using an MMSE estimator and sends its CSI back to the base station through a feedback channel. We approach the problem by using convex optimization framework, provide an explicit closed form expression for the users' transmit power and then develop an optimal margin adaptive resource allocation algorithm. Our proposed algorithm minimizes the total transmit power of the system subject to constraints on users' average data rate. The algorithm has polynomial complexity and solves the problem with zero optimality gaps. Simulation results show that our algorithm highly improves the system performance in the presence of imperfect channel estimation. Beacon placement strongly affects the quality of spatial localization, a critical service for context-aware applications in wireless sensor networks; yet this aspect of localization has received little attention. Fixed beacon placement approaches such as uniform and very dense placement are not always viable and will be inadequate in very noisy environments in which sensor networks may be expected to operate (with high terrain and propagation uncertainties). We motivate the need for empirically adaptive beacon placement and outline a general approach based on exploration and instrumentation of the terrain conditions by a mobile human or robot agent. We design, evaluate and analyze three novel adaptive beacon placement algorithms using this approach for localization based on RF-proximity. In our evaluation, we find that beacon density rather than noise level has a more significant impact on beacon placement algorithms. Our beacon placement algorithms are applicable to a low (beacon) density regime of operation. Noise makes moderate density regimes more improvable. This paper studies the resource allocation algorithm design for secure information and renewable green energy transfer to mobile receivers in distributed antenna communication systems. In particular, distributed remote radio heads (RRHs antennas) are connected to a central processor (CP) via capacity-limited backhaul links to facilitate joint transmission. The RRHs and the CP are equipped with renewable energy harvesters and share their energies via a lossy micropower grid for improving the efficiency in conveying information and green energy to mobile receivers via radio frequency signals. The considered resource allocation algorithm design is formulated as a mixed nonconvex and combinatorial optimization problem taking into account the limited backhaul capacity and the quality-of-service requirements for simultaneous wireless information and power transfer (SWIPT). We aim at minimizing the total network transmit power when only imperfect channel state information of the wireless energy harvesting receivers, which have to be powered by the wireless network, is available at the CP. In light of the intractability of the problem, we reformulate it as an optimization problem with binary selection, which facilitates the design of an iterative resource allocation algorithm to solve the problem optimally using the generalized Bender's decomposition (GBD). Furthermore, a suboptimal algorithm is proposed to strike a balance between computational complexity and system performance. Simulation results illustrate that the proposed GBD-based algorithm obtains the global optimal solution and the suboptimal algorithm achieves a close-to-optimal performance. In addition, the distributed antenna network for SWIPT with renewable energy sharing is shown to require a lower transmit power compared with a traditional system with multiple colocated antennas. Characterizing the fundamental tradeoffs for maximizing energy efficiency (EE) versus spectrum efficiency (SE) is a key problem in wireless communication. In this paper, we address this problem for a point-to-point additive white Gaussian noise (AWGN) channel with the transmitter powered solely via energy harvesting from the environment. In addition, we assume a practical on-off transmitter model with non-ideal circuit power, i.e., when the transmitter is on, its consumed power is the sum of the transmit power and a constant circuit power. Under this setup, we study the optimal transmit power allocation to maximize the average throughput over a finite horizon, subject to the time-varying energy constraint and the non-ideal circuit power consumption. First, we consider the off-line optimization under the assumption that the energy arrival time and amount are a priori known at the transmitter. Although this problem is non-convex due to the non-ideal circuit power, we show an efficient optimal solution that in general corresponds to a two-phase transmission: the first phase with an EE-maximizing on-off power allocation, and the second phase with a SE-maximizing power allocation that is non-decreasing over time, thus revealing an interesting result that both the EE and SE optimizations are unified in an energy harvesting communication system. We then extend the optimal off-line algorithm to the case with multiple parallel AWGN channels, based on the principle of nested optimization. Finally, inspired by the off-line optimal solution, we propose a new online algorithm under the practical setup with only the past and present energy state information (ESI) known at the transmitter. In this paper, we propose a selection region based multihop routing protocol with directional antennas for wireless mobile ad hoc networks, where the selection region is defined by two parameters: a reference distance and the beamwidth of the directional antenna. At each hop, we choose the nearest node to the transmitter within the selection region as the next hop relay. By maximizing the expected density of progress, we present an upper bound for the optimum reference distance and derive the relationship between the optimum reference distance and the optimum transmission probability. Compared with the results with routing strategy using omnidirectional antennas in [1], we find interestingly that the optimum transmission probability is a constant independent of the beamwidth, the expected density of progress with the new routing strategy is increased significantly, and the computational complexity involved in the relay selection is also greatly reduced. In this paper we study the resource allocation problem for the multiuser orthogonal frequency division multiplexing (OFDM)-based cognitive radio (CR) systems with proportional rate constraints. The mutual interference introduced by primary user (PU) and cognitive radio user (also referred to secondary user, SU) makes the optimization problem of CR systems more complex. Moreover, the interference introduced to PUs must be kept under a given threshold. In this paper, the highest achievable rate of each OFDM subchannel is calculated by jointly considering the channel gain and interference level. First, a subchannel is assigned to the SU with the highest achievable rate. The remaining subchannels are always allocated to the SU that suffers the severest unjustness. Second, an efficient bit allocation algorithm is developed to maximize the sum capacity, which is again based on the highest achievable rate of each subchannel. Finally, an adjustment procedure is designed to maintain proportional fairness. Simulation results show that the proposed algorithm maximizes the sum capacity while keeping the proportional rate constraints satisfied. The algorithm exhibits a good tradeoff between sum capacity maximization and proportional fairness. Furthermore, the proposed algorithm has lower complexity compared with other algorithms, rendering it promising for practical applications. Copyright © 2011 John Wiley & Sons, Ltd. (By jointly considering the channel gain and the interference level of the OFDM-based cognitive radio systems, the highest achievable rate of each subchannel can be calculated, which indicates the ability of carrying bits of the subchannel. Using the normalized cost index list, an efficient algorithm is proposed to maximize the sum capacity of the cognitive OFDM systems while keeping the proportional rate constraints satisfied.)