arXiv subjects

Davide Dardari

Publications and source records attributed to Davide Dardari.

70 records · Page 4Linked to original sources

arXiv2020

6G White Paper on Localization and Sensing

This white paper explores future localization and sensing opportunities for beyond 5G wireless communication systems by identifying key technology enablers and discussing their underlying challenges, implementation issues, and identifying potential solutions. In addition, we present exciting new opportunities for localization and sensing applications, which will disrupt traditional design principles and revolutionize the way we live, interact with our environment, and do business. Following the trend initiated in the 5G NR systems, 6G will continue to develop towards even higher frequency ranges, wider bandwidths, and massive antenna arrays. In turn, this will enable sensing solutions with very fine range, Doppler and angular resolutions, as well as localization to cm-level degree of accuracy. Moreover, new materials, device types, and reconfigurable surfaces will allow network operators to reshape and control the electromagnetic response of the environment. At the same time, machine learning and artificial intelligence will leverage the unprecedented availability of data and computing resources to tackle the biggest and hardest problems in wireless communication systems. 6G will be truly intelligent wireless systems that will not only provide ubiquitous communication but also empower high accuracy localization and high-resolution sensing services. They will become the catalyst for this revolution by bringing about a unique new set of features and service capabilities, where localization and sensing will coexist with communication, continuously sharing the available resources in time, frequency and space. This white paper concludes by highlighting foundational research challenges, as well as implications and opportunities related to privacy, security, and trust. Addressing these challenges will undoubtedly require an inter-disciplinary and concerted effort from the research community.

eess.SY↗

arXiv2020

Beamwidth Optimization and Resource Partitioning Scheme for Localization Assisted mm-wave Communications

We study a mm-wave wireless network deployed along the roads of an urban area, to support localization and communication services simultaneously for outdoor mobile users. In this network, we propose a mm-wave initial beam-selection scheme based on localization-bounds, which greatly reduces the initial access delay as compared to traditional initial access schemes for standalone mm-wave base station (BS). Then, we introduce a downlink transmission protocol, in which the radio frames are partitioned into three phases, namely, initial access, data, and localization, respectively. We establish a trade-off between the localization and communication performance of mm-wave systems, and show how enhanced localization can actually improve the data-communication performance. Our results suggest that dense BS deployments enable to allocate more resources to the data phase while still maintaining appreciable localization performance. Furthermore, for the case of sparse deployments and large beam dictionary size (i.e., with thinner beams), more resources must be allotted to the localization phase for optimizing the rate coverage. Based on our results, we provide several system design insights and dimensioning rules for the network operators that will deploy the first generation of mm-wave BSs.

eess.SP↗

arXiv2020

Reinforcement Learning for UAV Autonomous Navigation, Mapping and Target Detection

In this paper, we study a joint detection, mapping and navigation problem for a single unmanned aerial vehicle (UAV) equipped with a low complexity radar and flying in an unknown environment. The goal is to optimize its trajectory with the purpose of maximizing the mapping accuracy and, at the same time, to avoid areas where measurements might not be sufficiently informative from the perspective of a target detection. This problem is formulated as a Markov decision process (MDP) where the UAV is an agent that runs either a state estimator for target detection and for environment mapping, and a reinforcement learning (RL) algorithm to infer its own policy of navigation (i.e., the control law). Numerical results show the feasibility of the proposed idea, highlighting the UAV's capability of autonomously exploring areas with high probability of target detection while reconstructing the surrounding environment.

cs.RO↗

arXiv2020

Using MetaPrisms for Performance Improvement in Wireless Communications

In this paper, we put forth the idea of metaprism, a passive and non-reconfigurable metasurface acting as a metamirror with frequency-dependent reflecting properties within the signal bandwidth. We show that, with an appropriate design of the metaprism, it is possible to control that each data stream in an orthogonal frequency division multiplexing (OFDM) system is reflected in the desired direction without the need for control channels and channel state information (CSI) estimation between the base station and the metaprism, but simply by correctly assigning subcarriers to users. Furthermore, the metaprism can also be designed so that it focuses the signal towards a specific position depending on the subcarrier, provided that it is in the near-field, with consequent path-loss reduction. A critical discussion is also presented about the path-loss gain obtainable from metaprisms and, more generally, from metasurfaces. The numerical results show that this solution is surprisingly effective in extending the coverage in areas experiencing severe non line-of-sight (NLOS) channel conditions, thus making it a very appealing alternative to reconfigurable metasurfaces when low-cost, no energy consumption, and backward compatibility with existing wireless standards are required.

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arXiv2020

Dynamic Radar Network of UAVs: A Joint Navigation and Tracking Approach

Nowadays there is a growing research interest on the possibility of enriching small flying robots with autonomous sensing and online navigation capabilities. This will enable a large number of applications spanning from remote surveillance to logistics, smarter cities and emergency aid in hazardous environments. In this context, an emerging problem is to track unauthorized small unmanned aerial vehicles (UAVs) hiding behind buildings or concealing in large UAV networks. In contrast with current solutions mainly based on static and on-ground radars, this paper proposes the idea of a dynamic radar network of UAVs for real-time and high-accuracy tracking of malicious targets. To this end, we describe a solution for real-time navigation of UAVs to track a dynamic target using heterogeneously sensed information. Such information is shared by the UAVs with their neighbors via multi-hops, allowing tracking the target by a local Bayesian estimator running at each agent. Since not all the paths are equal in terms of information gathering point-of-view, the UAVs plan their own trajectory by minimizing the posterior covariance matrix of the target state under UAV kinematic and anti-collision constraints. Our results show how a dynamic network of radars attains better localization results compared to a fixed configuration and how the on-board sensor technology impacts the accuracy in tracking a target with different radar cross sections, especially in non line-of-sight (NLOS) situations.

cs.IT↗

arXiv2020

An Ultra-wideband Battery-less Positioning System for Space Applications

An ultra-wide bandwidth (UWB) remote-powered positioning system for potential use in tracking floating objects inside space stations is presented. It makes use of battery-less tags that are powered-up and addressed through wireless power transfer in the UHF band and embed an energy efficient pulse generator in the 3-5 GHz UWB band. The system has been mounted on the ESA Mars Rover prototype to demonstrate its functionality and performance. Experimental results show the feasibility of centimeter-level localization accuracy at distances larger than 10 meters, with the capability of determining the position of multiple tags using a 2W-ERP power source in the UHF RFID frequency band.

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arXiv2019

Automatic Mapping of the Indoor World with Personal Radars

Digital maps will revolutionize our experience of perceiving and navigating indoor environments. While today we rely only on the representation of the outdoors, the mapping of indoors is mainly a part of the traditional SLAM problem where robots discover the surrounding and perform self-localization. Nonetheless, robot deployment prevents from a large diffusion and fast mapping of indoors and, further, they are usually equipped with laser and vision technology that fail in scarce visibility conditions. To this end, a possible solution is to turn future personal devices into personal radars as a milestone towards the automatic generation of indoor maps using massive array technology at millimeter-waves, already in place for communications. In this application-oriented paper, we will describe the main achievements attained so far to develop the personal radar concept, using ad-hoc collected experimental data, and by discussing possible future directions of investigation.

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arXiv2019

Joint Indoor Localization and Navigation of UAVs for Network Formation Control

In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a static user acting as a central unit whose main task is to acquire all the UAV measurements carrying position-dependent information and to estimate the UAV positions when there is no existing infrastructure for positioning. Subsequently, the user exploits the estimated positions as inputs for the navigation control with the aim of deploying the UAVs in a desired formation in space (formation shaping). The user plans the trajectory of each UAV in real time, guaranteeing a safe navigation in the presence of obstacles. The proposed algorithm guides the UAVs to their desired final locations with good accuracy.

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arXiv2019

Dynamic Radar Networks of UAVs

In the incoming years, the low-aerial space will be crowded by unmanned aerial vehicles (UAVs), which will be providing different services. In this expected context, an emerging problem is to detect and track unauthorized or malicious mini/micro UAVs. In contrast to current solutions mainly based on fixed terrestrial radars, this article will put forth the idea of a dynamic radar network (DRN) composed of UAVs able to smartly adapt their formation-navigation control to best track malicious UAVs in real-time, with high accuracy, and in a distributed fashion. To this end, some technological solutions and the main methods for target detection and tracking will be described. Further, an optimized navigation scheme will be developed according to an information-seeking approach. Some examples of simulation results and future directions of work will be finally presented highlighting the advantages of dynamic and reconfigurable networks over static ones.

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arXiv2019

Non-Centralized Navigation for Source Localization by Cooperative UAVs

In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength (RSS) sensors from which it is possible to estimate the distance from the source and/or the direction of arrival through ad-hoc rotations. This diversity in gathering and processing RSS measurements mitigates the loss of localization accuracy due to the adoption of low-complexity sensors. The UAVs plan their trajectories on-the-fly and in a distributed fashion. The collected data are disseminated through the network via multi-hops, therefore being subject to latency. Since not all the paths are equal in terms of information gathering rewards, the motion planning is formulated as a minimization of the uncertainty of the source position under UAV kinematic and anti-collision constraints and performed by 3D non-linear programming. The proposed analysis takes into account non-line-of-sight (NLOS) channel conditions as well as measurement age caused by the latency constraints in communication.

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arXiv2018

Positioning Data-Rate Trade-off in mm-Wave Small Cells and Service Differentiation for 5G Networks

We analyze a millimeter wave network, deployed along the streets of a city, in terms of positioning and downlink data-rate performance, respectively. First, we present a transmission scheme where the base stations provide jointly positioning and data-communication functionalities. Accordingly, we study the trade-off between the localization and the data rate performance based on theoretical bounds. Then, we obtain an upper bound on the probability of beam misalignment based on the derived localization error bound. Finally, we prescribe the network operator a scheme to select the beamwidth and the power splitting factor between the localization and communication functions to address different quality of service requirements, while limiting cellular outage.

cs.IT↗

arXiv2017

Single Anchor Localization and Orientation Performance Limits using Massive Arrays: MIMO vs. Beamforming

Next generation cellular networks will experience the combination of femtocells, millimeter-wave (mm-wave) communications and massive antenna arrays. Thanks to the beamforming capability as well as the high angular resolution provided by massive arrays, only one single access point (AP) acting as an anchor node could be used for localization estimation, thus avoiding over-sized infrastructures dedicated to positioning. In this context, our paper aims at investigating the localization and orientation performance limits employing massive arrays both at the AP and mobile side. Thus, we first asymptotically demonstrate the tightness of the Cramer-Rao bound (CRB) in massive array regime, and in the presence or not of multipath. Successively, we propose a comparison between MIMO and beamforming in terms of array structure, time synchronization error and multipath components. Among different array configurations, we consider also random weighting as a trade-off between the high diversity gain of MIMO and the high directivity guaranteed by phased arrays. By evaluating the CRB for the different array configurations, results show the interplay between diversity and beamforming gain as well as the benefits achievable by varying the number of array elements in terms of localization accuracy.

cs.IT↗

arXiv2014

Capacity Achieving Peak Power Limited Probability Measures: Sufficient Conditions for Finite Discreteness

The problem of capacity achieving (optimal) input probability measures has been widely investigated for several channel models with constrained inputs. So far, no outstanding generalizations have been derived. This paper does a forward step in this direction, by introducing a set of new requirements, for the class of real scalar conditional output probability measures, under which the optimal input probability measure is shown to be discrete with a finite number of probability mass points, when peak power limited.

cs.IT↗

arXiv2014

Efficient Distributed Non-Asymptotic Confidence Regions Computation over Wireless Sensor Networks

This paper considers the distributed computation of confidence regions tethered to multidimensional parameter estimation under linear measurement models. In particular, the considered confidence regions are non-asymptotic, this meaning that the number of required measurements is finite. Distributed solutions for the computation of non-asymptotic confidence regions are proposed, suited to wireless sensor networks scenarios. Their performances are compared in terms of required traffic load, both analytically and numerically. The evidence emerging from the conducted investigations is that the best solution for information exchange depends on whether the network topology is structured or unstructured. The effect on the computation of confidence regions of information diffusion truncation is also examined. In particular, it is proven that consistent confidence regions can be computed even when an incomplete set of measurements is available.

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arXiv2014

Statistics of the MLE and Approximate Upper and Lower Bounds - Part 1: Application to TOA Estimation

In nonlinear deterministic parameter estimation, the maximum likelihood estimator (MLE) is unable to attain the Cramer-Rao lower bound at low and medium signal-to-noise ratios (SNR) due the threshold and ambiguity phenomena. In order to evaluate the achieved mean-squared-error (MSE) at those SNR levels, we propose new MSE approximations (MSEA) and an approximate upper bound by using the method of interval estimation (MIE). The mean and the distribution of the MLE are approximated as well. The MIE consists in splitting the a priori domain of the unknown parameter into intervals and computing the statistics of the estimator in each interval. Also, we derive an approximate lower bound (ALB) based on the Taylor series expansion of noise and an ALB family by employing the binary detection principle. The accurateness of the proposed MSEAs and the tightness of the derived approximate bounds are validated by considering the example of time-of-arrival estimation.

stat.AP↗

arXiv2014

Statistics of the MLE and Approximate Upper and Lower Bounds - Part 2: Threshold Computation and Optimal Signal Design

Threshold and ambiguity phenomena are studied in Part 1 of this work where approximations for the mean-squared-error (MSE) of the maximum likelihood estimator are proposed using the method of interval estimation (MIE), and where approximate upper and lower bounds are derived. In this part we consider time-of-arrival estimation and we employ the MIE to derive closed-form expressions of the begin-ambiguity, end-ambiguity and asymptotic signal-to-noise ratio (SNR) thresholds with respect to some features of the transmitted signal. Both baseband and passband pulses are considered. We prove that the begin-ambiguity threshold depends only on the shape of the envelope of the ACR, whereas the end-ambiguity and asymptotic thresholds only on the shape of the ACR. We exploit the results on the begin-ambiguity and asymptotic thresholds to optimize, with respect to the available SNR, the pulse that achieves the minimum attainable MSE. The results of this paper are valid for various estimation problems.

stat.AP↗