Guaranteed Completion of Complex Tasks via Temporal Logic Trees and Hamilton-Jacobi Reachability

In this paper, we present an approach for guaranteeing the completion of complex tasks with cyber-physical systems (CPS). Specifically, we leverage temporal logic trees constructed using Hamilton-Jacobi reachability analysis to (1) check for the existence of control policies that complete a specified task and (2) develop a computationally-efficient approach to synthesize the full set of control inputs the CPS can implement in real-time to ensure the task is completed. We show that, by checking the approximation directions of each state set in the temporal logic tree, we can check if the temporal logic tree suffers from the "leaking corner issue," where the intersection of reachable sets yields an incorrect approximation. By ensuring a temporal logic tree has no leaking corners, we know the temporal logic tree correctly verifies the existence of control policies that satisfy the specified task. After confirming the existence of control policies, we show that we can leverage the value functions obtained through Hamilton-Jacobi reachability analysis to efficiently compute the set of control inputs the CPS can implement throughout the deployment time horizon to guarantee the completion of the specified task. Finally, we use a newly released Python toolbox to evaluate the presented approach on a simulated driving task.

Multiple Narrow-band signals Direction Finding with TMLA by Nonuniform Period Modulation

A new array signal reconstruction and signal-channel DOA estimation method based on TMLA by nonuniform period modulation are proposed. By using non-uniform period modulation, the harmonic component produced by different elements could be separated. Therefore, the conventional snapshot could be reconstructed by analyzing the spectrum of the combined signal. Then spatial spectrum estimation method is used to implement DOA estimation. Numerical simulations are provided to verify the feasibility and accuracy of the proposed method. Since the duration of the signal in the frequency domain analysis processed in a single time is very short, this method is also applicable to narrowband signals. Another highlight is that this method can simultaneously measure the number of the elements-1 angle of incident signals.

Joint Active and Passive Beamforming Design for IRS-Aided Radar-Communication

In this paper, we study an intelligent reflecting surface (IRS)-aided radar-communication (Radcom) system, where the IRS is leveraged to help Radcom base station (BS) transmit the joint of communication signals and radar signals for serving communication users and tracking targets simultaneously. The objective of this paper is to minimize the total transmit power at the Radcom BS by jointly optimizing the active beamformers, including communication beamformers and radar beamformers, at the Radcom BS and the phase shifts at the IRS, subject to the minimum signal-to-interference-plus-noise ratio (SINR) required by communication users, the minimum SINR required by the radar, and the cross-correlation pattern design. In particular, we consider two cases, namely, case I and case II, based on the presence or absence of the radar cross-correlation design and the interference introduced by the IRS on the Radcom BS. For case I where the cross correlation design and the interference are not considered, we prove that the dedicated radar signals are not needed, which significantly reduces implementation complexity and simplifies algorithm design. Then, a penalty-based algorithm is proposed to solve the resulting non-convex optimization problem. Whereas for case II considering the cross-correlation design and the interference, we unveil that the dedicated radar signals are needed in general to enhance the system performance. Since the resulting optimization problem is more challenging to solve as compared with the case I, the semidefinite relaxation (SDR) based alternating optimization (AO) algorithm is proposed. Simulation results demonstrate the effectiveness of proposed algorithms and also show the superiority of the proposed scheme over various benchmark schemes.

Active IRS Aided Multiple Access for Energy-Constrained IoT Systems

We investigate the fundamental multiple access (MA) scheme in an active intelligent reflecting surface (IRS) aided energy-constrained Internet-of-Things (IoT) system, where an active IRS is deployed to assist the uplink transmission from multiple IoT devices to an access point (AP). Our goal is to maximize the sum throughput by optimizing the IRS beamforming vectors across time and resource allocation. To this end, we first study two typical active IRS aided MA schemes, namely time division multiple access (TDMA) and non-orthogonal multiple access (NOMA), by analytically comparing their achievable sum throughput and proposing corresponding algorithms. Interestingly, we prove that given only one available IRS beamforming vector, the NOMA-based scheme generally achieves a larger throughput than the TDMA-based scheme, whereas the latter can potentially outperform the former if multiple IRS beamforming vectors are available to harness the favorable time selectivity of the IRS. To strike a flexible balance between the system performance and the associated signaling overhead incurred by more IRS beamforming vectors, we then propose a general hybrid TDMA-NOMA scheme with user grouping, where the devices in the same group transmit simultaneously via NOMA while devices in different groups occupy orthogonal time slots. By controlling the number of groups, the hybrid TDMA-NOMA scheme is applicable for any given number of IRS beamforming vectors available. Despite of the non-convexity of the considered optimization problem, we propose an efficient algorithm based on alternating optimization. Simulation results illustrate the practical superiorities of the active IRS over the passive IRS in terms of the coverage extension and supporting multiple energy-limited devices, and demonstrate the effectiveness of our proposed hybrid MA scheme for flexibly balancing the performance-cost tradeoff.

Antenna Array Enabled Space/Air/Ground Communications and Networking for 6G

Antenna arrays have a long history of more than 100 years and have evolved closely with the development of electronic and information technologies, playing an indispensable role in wireless communications and radar. With the rapid development of electronic and information technologies, the demand for all-time, all-domain, and full-space network services has exploded, and new communication requirements have been put forward on various space/air/ground platforms. To meet the ever increasing requirements of the future sixth generation (6G) wireless communications, such as high capacity, wide coverage, low latency, and strong robustness, it is promising to employ different types of antenna arrays with various beamforming technologies in space/air/ground communication networks, bringing in advantages such as considerable antenna gains, multiplexing gains, and diversity gains. However, enabling antenna array for space/air/ground communication networks poses specific, distinctive and tricky challenges, which has aroused extensive research attention. This paper aims to overview the field of antenna array enabled space/air/ground communications and networking. The technical potentials and challenges of antenna array enabled space/air/ground communications and networking are presented first. Subsequently, the antenna array structures and designs are discussed. We then discuss various emerging technologies facilitated by antenna arrays to meet the new communication requirements of space/air/ground communication systems. Enabled by these emerging technologies, the distinct characteristics, challenges, and solutions for space communications, airborne communications, and ground communications are reviewed. Finally, we present promising directions for future research in antenna array enabled space/air/ground communications and networking.

Auto-Conditioned Recurrent Networks for Extended Complex Human Motion Synthesis

We present a real-time method for synthesizing highly complex human motions using a novel training regime we call the auto-conditioned Recurrent Neural Network (acRNN). Recently, researchers have attempted to synthesize new motion by using autoregressive techniques, but existing methods tend to freeze or diverge after a couple of seconds due to an accumulation of errors that are fed back into the network. Furthermore, such methods have only been shown to be reliable for relatively simple human motions, such as walking or running. In contrast, our approach can synthesize arbitrary motions with highly complex styles, including dances or martial arts in addition to locomotion. The acRNN is able to accomplish this by explicitly accommodating for autoregressive noise accumulation during training. Our work is the first to our knowledge that demonstrates the ability to generate over 18,000 continuous frames (300 seconds) of new complex human motion w.r.t. different styles.