arXiv subjects

Che Chen

Publications and source records attributed to Che Chen.

5 recordsLinked to original sources

arXiv2026

Spatio-Temporal Attention Enhanced Multi-Agent DRL for UAV-Assisted Wireless Networks with Limited Communications

In this paper, we employ multiple UAVs to accelerate data transmissions from ground users (GUs) to a remote base station (BS) via the UAVs' relay communications. The UAVs' intermittent information exchanges typically result in delays in acquiring the complete system state and hinder their effective collaboration. To maximize the overall throughput, we first propose a delay-tolerant multi-agent deep reinforcement learning (MADRL) algorithm that integrates a delay-penalized reward to encourage information sharing among UAVs, while jointly optimizing the UAVs' trajectory planning, network formation, and transmission control strategies. Additionally, considering information loss due to unreliable channel conditions, we further propose a spatio-temporal attention based prediction approach to recover the lost information and enhance each UAV's awareness of the network state. These two designs are envisioned to enhance the network capacity in UAV-assisted wireless networks with limited communications. The simulation results reveal that our new approach achieves over 50\% reduction in information delay and 75% throughput gain compared to the conventional MADRL. Interestingly, it is shown that improving the UAVs' information sharing will not sacrifice the network capacity. Instead, it significantly improves the learning performance and throughput simultaneously. It is also effective in reducing the need for UAVs' information exchange and thus fostering practical deployment of MADRL in UAV-assisted wireless networks.

cs.IT↗

arXiv2024

Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres

Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to ensure humans are not harmed and nearby objects are not damaged. However, they must also be generated in real-time to ensure the robot can quickly adapt to changes in the environment. Many trajectory optimization methods introduce heuristics that trade-off safety and real-time performance, which can lead to potentially unsafe plans. This paper addresses this challenge by proposing Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres (SPARROWS). SPARROWS is a receding-horizon trajectory planner that utilizes the combination of a novel reachable set representation and an exact signed distance function to generate provably-safe motion plans. At runtime, SPARROWS uses parameterized trajectories to compute reachable sets composed entirely of spheres that overapproximate the swept volume of the robot's motion. SPARROWS then performs trajectory optimization to select a safe trajectory that is guaranteed to be collision-free. We demonstrate that SPARROWS' novel reachable set is significantly less conservative than previous approaches. We also demonstrate that SPARROWS outperforms a variety of state-of-the-art methods in solving challenging motion planning tasks in cluttered environments. Code, data, and video demonstrations can be found at \url{https://roahmlab.github.io/sparrows/}.

cs.RO↗

arXiv2023

Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty

Ensuring safe, real-time motion planning in arbitrary environments requires a robotic manipulator to avoid collisions, obey joint limits, and account for uncertainties in the mass and inertia of objects and the robot itself. This paper proposes Autonomous Robust Manipulation via Optimization with Uncertainty-aware Reachability (ARMOUR), a provably-safe, receding-horizon trajectory planner and tracking controller framework for robotic manipulators to address these challenges. ARMOUR first constructs a robust controller that tracks desired trajectories with bounded error despite uncertain dynamics. ARMOUR then uses a novel recursive Newton-Euler method to compute all inputs required to track any trajectory within a continuum of desired trajectories. Finally, ARMOUR over-approximates the swept volume of the manipulator; this enables one to formulate an optimization problem that can be solved in real-time to synthesize provably-safe motions. This paper compares ARMOUR to state of the art methods on a set of challenging manipulation examples in simulation and demonstrates its ability to ensure safety on real hardware in the presence of model uncertainty without sacrificing performance. Project page: https://roahmlab.github.io/armour/.

cs.RO↗

arXiv2018

Waveguide-Integrated Mid-Infrared Plasmonics with High-Efficiency Coupling for Ultracompact Surface-Enhanced Infrared Absorption Spectroscopy

Waveguide-integrated plasmonics is a growing field with many innovative concepts and demonstrated devices in the visible and near-infrared. Here, we extend this body of work to the mid-infrared for the application of surface-enhanced infrared absorption (SEIRA), a spectroscopic method to probe molecular vibrations in small volumes and thin films. Built atop a silicon-on-insulator (SOI) waveguide platform, two key plasmonic structures useful for SEIRA are examined using computational modeling: gold nanorods and coaxial nanoapertures. We find resonance dips of 80% in near diffraction-limited areas due to arrays of our structures and up to 40% from a single resonator. Each of the structures are evaluated using the simulated SEIRA signal from poly(methyl methacrylate) and an octadecanethiol self-assembled monolayer. The platforms we present allow for a compact, on-chip SEIRA sensing system with highly efficient waveguide coupling in the mid-IR.

physics.optics↗

arXiv2014

Waveguide-integrated black phosphorus photodetector with high responsivity and low dark current

Layered two-dimensional materials have shown novel optoelectronic properties and are well suited to be integrated in planar photonic circuits. For example, graphene has been utilized for wideband photodetection. Because graphene lacks a band gap, however, graphene photodetectors suffer from very high dark current. In contrast, layered black phosphorous, the latest addition to the family of 2D materials, is well-suited for photodetector applications due to its narrow but finite band gap. Here, we demonstrate a gated multilayer black phosphorus photodetector integrated on a silicon photonic waveguide operating in the near-infrared telecom band. In a significant advantage over graphene devices, black phosphorus photodetectors can operate under a bias with very low dark current and attain intrinsic responsivity up to 135 mA/W and 657 mA/W in 11.5nm and 100 nm thick devices, respectively, at room temperature. The photocurrent is dominated by the photovoltaic effect with a high response bandwidth exceeding 3 GHz.

physics.optics↗