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.
The above methods address spatial placement but not transmission channel assignments, and associated issues with interference. Automatic channel assignment methods have been considered previously, but only for optimizing communication throughput @cite_10 @cite_16 --- to minimize interference from two beacons in the same channel at any location. Note that this is a very different and simpler objective than one of enabling accurate localization, where the goal is to ensure that there is a unique mapping from every RSS signature (with or without interference) to location.
@cite_16 @cite_10
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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. 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. 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 experimentally compares the positioning accuracy of TDoA-based and RSS-based localization in a public outdoor LoRa network in the Netherlands. The performance of different Received Signal Strength (RSS)-based approaches (proximity, centroid, map matching,…) is compared with Time-Difference-of-Arrival (TDoA) performance. The number of RSS and TDoA location updates and the positioning accuracy per spreading factor (SF) is assessed, allowing to select the optimal SF choice for the network. A road mapping filter is applied to the raw location estimates for the best algorithms and SFs. RSS-based approaches have median and maximal errors that are limited to 1000 m and 2000 m respectively, using a road mapping filter. Using the same filter, TDoA-based approaches deliver median and maximal errors in the order of 150 m and 350 m respectively. However, the number of location updates per time unit using SF7 is around 10 times higher for RSS algorithms than for the TDoA algorithm. 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. With the technical advances in ubiquitous comput- ing and wireless networking, there has been an increasing need to capture the context information (such as the location) and to figure it into applications. In this paper, we establish the theoreti- cal base and develop a localization algorithm for building a zero- configuration and robust indoor localization and tracking system to support location-based network services and management. The localization algorithm takes as input the on-line measurements of received signal strengths (RSSs) between 802.11 APs and between a client and its neighboring APs, and estimates the location of the client. The on-line RSS measurements among 802.11 APs are used to capture (in real-time) the effects of RF multi-path fading, temperature and humidity variations, opening and closing of doors, furniture relocation, and human mobility on the RSS measurements, and to create, based on the truncated singular value decomposition (SVD) technique, a mapping between the RSS measure and the actual geographical distance. The proposed system requires zero-configuration because the on-line calibration of the effect of wireless physical characteristics on RSS measurement is automated and no on-site survey or initial training is required to bootstrap the system. It is also quite responsive to environmental dynamics, as the impacts of physical characteristics changes have been explicitly figured in the mapping between the RSS measures and the actual geographical distances. We have implemented the proposed system with inexpensive off-the-shelf Wi-Fi hardware and sensory functions of IEEE 802.11, and carried out a detailed empirical study in our division building. The empirical results show the proposed system is quite robust and gives accurate localization results (i.e., with the localization error within 3 meters). 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. 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. We investigate spatial interference statistics for multigigabit outdoor mesh networks operating in the unlicensed 60-GHz "millimeter (mm) wave" band. The links in such networks are highly directional: Because of the small carrier wavelength (an order of magnitude smaller than those for existing cellular and wireless local area networks), narrow beams are essential for overcoming higher path loss and can be implemented using compact electronically steerable antenna arrays. Directionality drastically reduces interference, but it also leads to "deafness," making implicit coordination using carrier sense infeasible. In this paper, we make a quantitative case for rethinking medium access control (MAC) design in such settings. Unlike existing MAC protocols for omnidirectional networks, where the focus is on interference management, we contend that MAC design for 60-GHz mesh networks can essentially ignore interference and must focus instead on the challenge of scheduling half-duplex transmissions with deaf neighbors. Our main contribution is an analytical framework for estimating the collision probability in such networks as a function of the antenna patterns and the density of simultaneously transmitting nodes. The numerical results from our interference analysis show that highly directional links can indeed be modeled as pseudowired, in that the collision probability is small even with a significant density of transmitters. Furthermore, simulation of a rudimentary directional slotted Aloha protocol shows that packet losses due to failed coordination are an order of magnitude higher than those due to collisions, confirming our analytical results and highlighting the need for more sophisticated coordination mechanisms. In traditional radio-based localization methods, the target object has to carry a transmitter (e.g., active RFID), a receiver (e.g., 802.11x detector), or a transceiver (e.g., sensor node). However, in some applications, such as safe guard systems, it is not possible to meet this precondition. In this paper, we propose a model of signal dynamics to allow tracking of transceiver-free objects. Based on radio signal strength indicator (RSSI), which is readily available in wireless communication, three tracking algorithms are proposed to eliminate noise behaviors and improve accuracy. The midpoint and intersection algorithms can be applied to track a single object without calibration, while the best-cover algorithm has potential to track multiple objects but requires calibration. Our experimental test-bed is a grid sensor array based on MICA2 sensor nodes. The experimental results show that the best side length between sensor nodes in the grid is 2 meters and the best-cover algorithm can reach localization accuracy to 0.99 m The throughput of wireless networks can be significantly improved by multi-channel communications compared with single-channel communications since the use of multiple channels can reduce interference influence. In this paper, we study interference-aware topology control and QoS routing in IEEE 802.11-based multi-channel wireless mesh networks with dynamic traffic. Channel assignment and routing are two basic issues in such networks. Different channel assignments can lead to different network topologies. We present a novel definition of co-channel interference. Based on this concept, we formally define and present an effective heuristic for the minimum INterference Survivable Topology Control (INSTC) problem which seeks a channel assignment for the given network such that the induced network topology is interference-minimum among all K-connected topologies. We then formulate the Bandwidth-Aware Routing (BAR) problem for a given network topology, which seeks routes for QoS connection requests with bandwidth requirements. We present a polynomial time optimal algorithm to solve the BAR problem under the assumption that traffic demands are splittable. For the non-splittable case, we present a maximum bottleneck capacity path routing heuristic. Simulation results show that compared with the simple common channel assignment and shortest path routing approach, our scheme improves the system performance by 57 on average in terms of connection blocking ratio. Among the various ranging techniques, Radio Signal Strength (RSS) based approaches attract intensive research interests because of its low cost and wide applicability. RSS-based ranging is apt to be affected by the multipath phenomenon which allows the radio signals to reach the destination through multiple propagation paths. To address this issue, previous works try to profile the environment and refer this profile in run-time. In practical dynamic environments, however, the profile frequently changes and the painful retraining is needed. Rather than such static ways of profiling the environments, in this paper, we try to accommodate the environmental dynamics automatically in real-time. The key observation is that given a pair of nodes, the RSS at different spectrum channels will be different. This difference carries the valuable phase information of the radio signals. By analyzing these RSS values, we are able to identify the amplitude of signals solely from the Line-of-Sight (LOS) path. This LOS amplitude is a simple function of the path length (the physical distance). We find that the analysis is a typical non-linear curvature fitting problem that has no general routing algorithms. We prove this problem format is ill-conditioned which has no stable and trustable solutions. To deal with this issue, we further explore the practical considerations for the problem and reform it to a greatly improved conditioning shape. We solve the problem by numerical iterations and implement these ideas in a real-time indoor tracking system called MuD. MuD employs only three TelosB nodes as anchors. The experiment results show that in a dynamic environment where five people move around, the averaged localization error is 1 meter. Compared with the traditional RSS-based approaches in dynamic environment, the accuracy improves up to 10 times. The Interfering Broadcast Channel (IBC) applies to the downlink of (cellular and or heterogeneous) multi-cell networks, which are limited by multi-user (MU) interference. The interference alignment (IA) concept has shown that interference does not need to be inevitable. In particular spatial IA in the MIMO IBC allows for low latency transmission. However, IA requires perfect and typically global Channel State Information at the Transmitter(s) (CSIT), whose acquisition does not scale well with network size. Also, the design of transmitters (Txs) and receivers (Rxs) is coupled and hence needs to be centralized (cloud) or duplicated (distributed approach). CSIT, which is crucial in MU systems, is always imperfect in practice. We consider the joint optimal exploitation of mean (channel estimates) and covariance Gaussian partial CSIT. Indeed, in a Massive MIMO (MaMIMO) setting (esp. when combined with mmWave) the channel covariances may exhibit low rank and zero-forcing might be possible by just exploiting the covariance subspaces. But the question is the optimization of beamformers for the expected weighted sum rate (EWSR) at finite SNR. We propose explicit beamforming solutions and indicate that existing large system analysis can be extended to handle optimized beamformers with the more general partial CSIT considered here. In this paper, a received signal strength (RSS) based localization technique is investigated for underwater optical wireless sensor networks (UOWSNs) where optical noise sources (e.g., sunlight, background, thermal, and dark current) and channel impairments of seawater (e.g., absorption, scattering, and turbulence) pose significant challenges. Hence, we propose a localization technique that works on the noisy ranging measurements embedded in a higher dimensional space and localize the sensor network in a low dimensional space. Once the neighborhood information is measured, a weighted network graph is constructed, which contains the one-hop neighbor distance estimations. A novel approach is developed to complete the missing distances in the kernel matrix. The output of the proposed technique is fused with Helmert transformation to refine the final location estimation with the help of anchors. The simulation results show that the root means square positioning error (RMSPE) of the proposed technique is more robust and accurate compared to baseline and manifold regularization. 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. In this paper, we revisit the problem of determining the minimum-length schedule that satisfies certain traffic demands in a wireless network. Traditional approaches for the determination of minimum-length schedules are based on a collision channel model, in which neighboring transmissions cause destructive interference if and only if they are within the "interference region" of the receiving nodes. By contrast, we adopt here a more realistic model for the physical layer by requiring that a threshold be exceeded by the signal-to-interference-plus-noise ratio (SINR) for a transmission to be successful. We present a novel formulation of the problem that incorporates various power and rate adaptation schemes while seamlessly integrating the generation of "matchings" (i.e., sets of links that can be activated simultaneously) by taking into consideration the SINR constraints at the receivers. For the formulated problem, we propose a column-generation-based solution method and show that it theoretically converges to a globally optimal solution, with a potential advantage of not having to enumerate all the feasible matchings a priori. We also discuss the influence of power control, spatial reuse, and variable transmission rates on network performance. Furthermore, we include aspects of the routing problem and provide computational results for our proposed column-generation-based solution procedure. Existing position-based unicast routing algorithms which forward packets in the geographic direction of the destination require that the forwarding node knows the positions of all neighbors in its transmission range. This information on direct neighbors is gained by observing beacon messages each node sends out periodically. Due to mobility, the information that a node receives about its neighbors becomes outdated, leading either to a significant decrease in the packet delivery rate or to a steep increase in load on the wireless channel as node mobility increases. In this paper, we propose a mechanism to perform position-based unicast forwarding without the help of beacons. In our contention-based forwarding scheme (CBF) the next hop is selected through a distributed contention process based on the actual positions of all current neighbors. For the contention process, CBF makes use of biased timers. To avoid packet duplication, the first node that is selected suppresses the selection of further nodes. We propose three suppression strategies which vary with respect to forwarding efficiency and suppression characteristics. We analyze the behavior of CBF with all three suppression strategies and compare it to an existing greedy position-based routing approach by means of simulation with ns-2. Our results show that CBF significantly reduces the load on the wireless channel required to achieve a specific delivery rate compared to the load a beacon-based greedy forwarding strategy generates. This paper addresses three issues in the field of ad hoc network capacity: the impact of (i) channel fading, (ii) channel inversion power control, and (iii) threshold-based scheduling on capacity. Channel inversion and threshold scheduling may be viewed as simple ways to exploit channel state information (CSI) without requiring cooperation across transmitters. We use the transmission capacity (TC) as our metric, defined as the maximum spatial intensity of successful simultaneous transmissions subject to a constraint on the outage probability (OP). By assuming the nodes are located on the infinite plane according to a Poisson process, we are able to employ tools from stochastic geometry to obtain asymptotically tight bounds on the distribution of the signal-to-interference (SIR) level, yielding in turn tight bounds on the OP (relative to a given SIR threshold) and the TC. We demonstrate that in the absence of CSI, fading can significantly reduce the TC and somewhat surprisingly, channel inversion only makes matters worse. We develop a threshold-based transmission rule where transmitters are active only if the channel to their receiver is acceptably strong, obtain expressions for the optimal threshold, and show that this simple, fully distributed scheme can significantly reduce the effect of fading. During the last decades, location based services have become very popular and the developed indoor positioning systems have achieved an impressive accuracy. The problem though is that even if the only requirement is room-level localization, those systems are most of the times not cost-efficient and not easy to set-up, since they often require time-consuming calibration procedures. This paper presents a low-cost, threshold-based approach and introduces an algorithm that takes into account both the Received Signal Strength Indication (RSSI) of the Bluetooth Low Energy (BLE) beacons and the geometry of the rooms the beacons are placed in. Performance evaluation was done via measurements in an office environment composed of three rooms and in a house environment composed of six rooms. The experimental results show an improved accuracy in room detection when using the proposed algorithm, compared to when only considering the RSSI readings. This method was developed to provide context awareness to the international research project named SmartHeat. The projects aims to provide a system that efficiently heats a house, room by room, based on the habitants' habits and preferences. 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.