Fluid-Antenna-aided AAV Secure Communications in Eavesdropper Uncertain Location

For autonomous aerial vehicle (AAV) secure communications, traditional designs based on fixed position antenna (FPA) lack sufficient spatial degrees of freedom (DoF), which leaves the line-of-sight-dominated AAV links vulnerable to eavesdropping. To overcome this problem, this paper proposes a framework that effectively incorporates the fluid antenna (FA) and the artificial noise (AN) techniques. Specifically, the minimum secrecy rate (MSR) among multiple eavesdroppers is maximized by jointly optimizing AAV deployment, signal and AN precoders, and FA positions. In particular, the worst-case MSR is considered by taking the channel uncertainties due to the uncertainty about eavesdropping locations into account. To tackle the highly coupled optimization variables and the channel uncertainties in the formulated problem, an efficient and robust algorithm is proposed. Particularly, the uncertain regions of eavesdroppers, whose shapes can be arbitrary, are disposed by constructing convex hull. In addition, two movement modes of FAs are considered, namely, free movement mode and zonal movement mode, for which different optimization techniques are applied, respectively. Numerical results show that, the proposed FA schemes boost security by exploiting additional spatial DoF rather than transmit power, while AN provides remarkable gains under high transmit power. Furthermore, the synergy between FA and AN results in a secure advantage that exceeds the sum of their individual contributions, achieving a balance between security and reliability under limited resources.

Formalization of Robot Collision Detection Method based on Conformal Geometric Algebra

Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As an advanced geometric language, conformal geometric algebra can simplify the construction of the robot collision model and the calculation of collision distance. Compared with the formal method based on conformal geometric algebra, the traditional method may have some defects which are difficult to find in the modelling and calculation. We use the formal method based on conformal geometric algebra to study the collision detection problem of cooperative robots. This paper builds formal models of geometric primitives and the robot body based on the conformal geometric algebra library in HOL Light. We analyse the shortest distance between geometric primitives and prove their collision determination conditions. Based on the above contents, we construct a formal verification framework for the robot collision detection method. By the end of this paper, we apply the proposed framework to collision detection between two single-arm industrial cooperative robots. The flexibility and reliability of the proposed framework are verified by constructing a general collision model and a special collision model for two single-arm industrial cooperative robots.