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Guoqiang Mao

Publications and source records attributed to Guoqiang Mao.

At least 19 recordsLinked to original sources
arXiv2026

Active Movable-Element RIS Assisted Vehicular Semantic Communications: Modeling and Optimization

Severe signal blockage and fast-varying channels in vehicular environments pose critical challenges to reliable semantic communication. To address these, this paper proposes a novel Row-Movable Active Reconfigurable Intelligent Surface (RM-A-RIS) assisted vehicular semantic communication system. This architecture uniquely combines active signal amplification with element mobility to compensate for multiplicative fading and reconstruct channel geometry, thereby enhancing spatial diversity. We formulate a joint optimization problem to maximize Semantic Spectral Efficiency (SSE) by coordinating RIS element positions, active reflection coefficients, and semantic symbol length. An efficient Alternating Optimization (AO) algorithm is developed to tackle the coupled non-convexity. Simulation results demonstrate that the proposed scheme substantially outperforms existing benchmarks, achieving up to 132.9%, 9.2%, and 35.2% improvements in Sum-Semantic Spectral Efficiency (Sum-SSE) compared to the passive RIS, fixed-position active RIS, and QPSO baselines, respectively.

cs.NI↗
arXiv2026

Multipath Extended Target Tracking with Labeled Random Finite Sets

High-resolution radar sensors are critical for autonomous systems but pose significant challenges to traditional tracking algorithms due to the generation of multiple measurements per object and the presence of multipath effects. Existing solutions often rely on the point target assumption or treat multipath measurements as clutter, whereas current extended target trackers often lack the capability to maintain trajectory continuity in complex multipath environments. To address these limitations, this paper proposes the multipath extended target generalized labeled multi-Bernoulli (MPET-GLMB) filter. A unified Bayesian framework based on labeled random finite set theory is derived to jointly model target existence, measurement partitioning, and the association between measurements, targets, and propagation paths. This formulation enables simultaneous trajectory estimation for both targets and reflectors without requiring heuristic post-processing. To enhance computational efficiency, a joint prediction and update implementation based on Gibbs sampling is developed. Furthermore, a measurement-driven adaptive birth model is introduced to initialize tracks without prior knowledge of target positions. Experimental results from simulated scenarios and real-world automotive radar data demonstrate that the proposed filter outperforms state-of-the-art methods, achieving superior state estimation accuracy and robust trajectory maintenance in dynamic multipath environments.

eess.SP↗
arXiv2026

OptiPMB: Enhancing 3D Multi-Object Tracking with Optimized Poisson Multi-Bernoulli Filtering

Accurate 3D multi-object tracking (MOT) is crucial for autonomous driving, as it enables robust perception, navigation, and planning in complex environments. While deep learning-based solutions have demonstrated impressive 3D MOT performance, model-based approaches remain appealing for their simplicity, interpretability, and data efficiency. Conventional model-based trackers typically rely on random vector-based Bayesian filters within the tracking-by-detection (TBD) framework but face limitations due to heuristic data association and track management schemes. In contrast, random finite set (RFS)-based Bayesian filtering handles object birth, survival, and death in a theoretically sound manner, facilitating interpretability and parameter tuning. In this paper, we present OptiPMB, a novel RFS-based 3D MOT method that employs an optimized Poisson multi-Bernoulli (PMB) filter while incorporating several key innovative designs within the TBD framework. Specifically, we propose a measurement-driven hybrid adaptive birth model for improved track initialization, employ adaptive detection probability parameters to effectively maintain tracks for occluded objects, and optimize density pruning and track extraction modules to further enhance overall tracking performance. Extensive evaluations on nuScenes and KITTI datasets show that OptiPMB achieves superior tracking accuracy compared with state-of-the-art methods, thereby establishing a new benchmark for model-based 3D MOT and offering valuable insights for future research on RFS-based trackers in autonomous driving.

cs.CV↗
arXiv2026

Wavelet-based Multi-View Fusion of 4D Radar Tensor and Camera for Robust 3D Object Detection

4D millimeter-wave (mmWave) radar has been widely adopted in autonomous driving and robot perception due to its low cost and all-weather robustness. However, point-cloud-based radar representations suffer from information loss due to multi-stage signal processing, while directly utilizing raw 4D radar tensors incurs prohibitive computational costs. To address these challenges, we propose WRCFormer, a novel 3D object detection framework that efficiently fuses raw 4D radar cubes with camera images via decoupled multi-view radar representations. Our approach introduces two key components: (1) A Wavelet Attention Module embedded in a wavelet-based Feature Pyramid Network (FPN), which enhances the representation of sparse radar signals and image data by capturing joint spatial-frequency features, thereby mitigating information loss while maintaining computational efficiency. (2) A Geometry-guided Progressive Fusion mechanism, a two-stage query-based fusion strategy that progressively aligns multi-view radar and visual features through geometric priors, enabling modality-agnostic and efficient integration without overwhelming computational overhead. Extensive experiments on the K-Radar benchmark show that WRCFormer achieves state-of-the-art performance, surpassing the best existing model by approximately 2.4% in all scenarios and 1.6% in sleet conditions, demonstrating strong robustness in adverse weather.

cs.CV↗
arXiv2025

Talk2PC: Enhancing 3D Visual Grounding through LiDAR and Radar Point Clouds Fusion for Autonomous Driving

Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs), which collect and process limited scene-aware contexts. In contrast, compared to the 2D planar visual information, point cloud sensors such as LiDAR provide rich depth and fine-grained 3D representations of objects. Even better the emerging 4D millimeter-wave radar detects the motion trend, velocity, and reflection intensity of each object. The integration of these two modalities provides more flexible querying conditions for natural language, thereby supporting more accurate 3D visual grounding. To this end, we propose a novel method called TPCNet, the first outdoor 3D visual grounding model upon the paradigm of prompt-guided point cloud sensor combination, including both LiDAR and radar sensors. To optimally combine the features of these two sensors required by the prompt, we design a multi-fusion paradigm called Two-Stage Heterogeneous Modal Adaptive Fusion. Specifically, this paradigm initially employs Bidirectional Agent Cross-Attention (BACA), which feeds both-sensor features, characterized by global receptive fields, to the text features for querying. Moreover, we design a Dynamic Gated Graph Fusion (DGGF) module to locate the regions of interest identified by the queries. To further enhance accuracy, we devise an C3D-RECHead, based on the nearest object edge to the ego-vehicle. Experimental results demonstrate that our TPCNet, along with its individual modules, achieves the state-of-the-art performance on both the Talk2Radar and Talk2Car datasets. We release the code at https://github.com/GuanRunwei/TPCNet.

cs.CV↗
arXiv2025

Communication Strategy on Macro-and-Micro Traffic State in Cooperative Deep Reinforcement Learning for Regional Traffic Signal Control

Adaptive Traffic Signal Control (ATSC) has become a popular research topic in intelligent transportation systems. Regional Traffic Signal Control (RTSC) using the Multi-agent Deep Reinforcement Learning (MADRL) technique has become a promising approach for ATSC due to its ability to achieve the optimum trade-off between scalability and optimality. Most existing RTSC approaches partition a traffic network into several disjoint regions, followed by applying centralized reinforcement learning techniques to each region. However, the pursuit of cooperation among RTSC agents still remains an open issue and no communication strategy for RTSC agents has been investigated. In this paper, we propose communication strategies to capture the correlation of micro-traffic states among lanes and the correlation of macro-traffic states among intersections. We first justify the evolution equation of the RTSC process is Markovian via a system of store-and-forward queues. Next, based on the evolution equation, we propose two GAT-Aggregated (GA2) communication modules--GA2-Naive and GA2-Aug to extract both intra-region and inter-region correlations between macro and micro traffic states. While GA2-Naive only considers the movements at each intersection, GA2-Aug also considers the lane-changing behavior of vehicles. Two proposed communication modules are then aggregated into two existing novel RTSC frameworks--RegionLight and Regional-DRL. Experimental results demonstrate that both GA2-Naive and GA2-Aug effectively improve the performance of existing RTSC frameworks under both real and synthetic scenarios. Hyperparameter testing also reveals the robustness and potential of our communication modules in large-scale traffic networks.

cs.MA↗
arXiv2024

Hybrid Network- and User-Centric Scalable Cell-Free Massive MIMO for Fronthaul Signaling Minimization

Cell-free massive multiple-input multiple-output (CFmMIMO) coordinates a great number of distributed access points (APs) with central processing units (CPUs), effectively reducing interference and ensuring uniform service quality for user equipment (UEs). However, its cooperative nature can result in intense fronthaul signaling between CPUs in large-scale networks. To reduce the inter-CPU fronthaul signaling for systems with limited fronthaul capacity, we propose a low-complexity online UE-AP association approach for scalable CFmMIMO that combines network- and user-centric clustering methodologies, relies on local channel information only, and can handle dynamic UE arrivals. Numerical results demonstrate that compared to the state-of-the-art method on fronthaul signaling minimization, our approach can save up to 94% of the fronthaul signaling load and 83% of the CPU processing power at the cost of only up to 8.6% spectral efficiency loss, or no loss in some cases.

eess.SP↗
arXiv2023

6G Network AI Architecture for Everyone-Centric Customized Services

Mobile communication standards were developed for enhancing transmission and network performance by using more radio resources and improving spectrum and energy efficiency. How to effectively address diverse user requirements and guarantee everyone's Quality of Experience (QoE) remains an open problem. The Sixth Generation (6G) mobile systems will solve this problem by utilizing heterogenous network resources and pervasive intelligence to support everyone-centric customized services anywhere and anytime. In this article, we first coin the concept of Service Requirement Zone (SRZ) on the user side to characterize and visualize the integrated service requirements and preferences of specific tasks of individual users. On the system side, we further introduce the concept of User Satisfaction Ratio (USR) to evaluate the system's overall service ability of satisfying a variety of tasks with different SRZs. Then, we propose a network Artificial Intelligence (AI) architecture with integrated network resources and pervasive AI capabilities for supporting customized services with guaranteed QoEs. Finally, extensive simulations show that the proposed network AI architecture can consistently offer a higher USR performance than the cloud AI and edge AI architectures with respect to different task scheduling algorithms, random service requirements, and dynamic network conditions.

cs.NI↗
arXiv2023

Large-Scale Traffic Signal Control Using Constrained Network Partition and Adaptive Deep Reinforcement Learning

Multi-agent Deep Reinforcement Learning (MADRL) based traffic signal control becomes a popular research topic in recent years. To alleviate the scalability issue of completely centralized RL techniques and the non-stationarity issue of completely decentralized RL techniques on large-scale traffic networks, some literature utilizes a regional control approach where the whole network is firstly partitioned into multiple disjoint regions, followed by applying the centralized RL approach to each region. However, the existing partitioning rules either have no constraints on the topology of regions or require the same topology for all regions. Meanwhile, no existing regional control approach explores the performance of optimal joint action in an exponentially growing regional action space when intersections are controlled by 4-phase traffic signals (EW, EWL, NS, NSL). In this paper, we propose a novel RL training framework named RegionLight to tackle the above limitations. Specifically, the topology of regions is firstly constrained to a star network which comprises one center and an arbitrary number of leaves. Next, the network partitioning problem is modeled as an optimization problem to minimize the number of regions. Then, an Adaptive Branching Dueling Q-Network (ABDQ) model is proposed to decompose the regional control task into several joint signal control sub-tasks corresponding to particular intersections. Subsequently, these sub-tasks maximize the regional benefits cooperatively. Finally, the global control strategy for the whole network is obtained by concatenating the optimal joint actions of all regions. Experimental results demonstrate the superiority of our proposed framework over all baselines under both real and synthetic datasets in all evaluation metrics.

cs.AI↗
arXiv2023

Real-time Path Planning of Driver-less Mining Trains with Time-dependent Physical Constraints

While the increased automation levels of production and operation equipment have led to improved productivity of mining activity in open pit mines, the capacity of mine transport system become a bottleneck. The optimization of mine transport system is of great practical significance to reduce the production and operation cost and improve the production and organizational efficiency of mines. In this paper we first formulate a multi-objective optimisation problem for mine railway scheduling by introducing a set of mathematical constraints. As the problem is NP-hard, we then devise a Mixed Integer Programming based solution to solve this problem, and develop an online framework accordingly. We finally conduct test cases to evaluate the performance of the proposed solution. Experimental results demonstrate that the proposed solution is efficient and able to generate train schedule in a real-time manner.

eess.SY↗
arXiv2020

Effect of Spatial and Temporal Traffic Statistics on the Performance of Wireless Networks

The traffic in wireless networks has become diverse and fluctuating both spatially and temporally due to the emergence of new wireless applications and the complexity of scenarios. The purpose of this paper is to quantitatively analyze the impact of the wireless traffic, which fluctuates both spatially and temporally, on the performance of the wireless networks. Specially, we propose to combine the tools from stochastic geometry and queueing theory to model the spatial and temporal fluctuation of traffic, which to our best knowledge has seldom been evaluated analytically. We derive the spatial and temporal statistics, the total arrival rate, the stability of queues and the delay of users by considering two different spatial properties of traffic, i.e., the uniformly and non-uniformly distributed cases. The numerical results indicate that although the fluctuation of traffic (reflected by the variance of total arrival rate) when the users are clustered is much fiercer than that when the users are uniformly distributed, the unstable probability is smaller. Our work provides a useful reference for the design of wireless networks when the complex spatio-temporal fluctuation of the traffic is considered.

cs.NI↗
arXiv2020

Spatio-temporal Modeling for Massive and Sporadic Access

The vision for smart city imperiously appeals to the implementation of Internet-of-Things (IoT), some features of which, such as massive access and bursty short packet transmissions, require new methods to enable the cellular system to seamlessly support its integration. Rigorous theoretical analysis is indispensable to obtain constructive insight for the networking design of massive access. In this paper, we propose and define the notion of massive and sporadic access (MSA) to quantitatively describe the massive access of IoT devices. We evaluate the temporal correlation of interference and successful transmission events, and verify that such correlation is negligible in the scenario of MSA. In view of this, in order to resolve the difficulty in any precise spatio-temporal analysis where complex interactions persist among the queues, we propose an approximation that all nodes are moving so fast that their locations are independent at different time slots. Furthermore, we compare the original static network and the equivalent network with high mobility to demonstrate the effectiveness of the proposed approximation approach. The proposed approach is promising for providing a convenient and general solution to evaluate and design the IoT network with massive and sporadic access.

cs.IT↗
arXiv2020

Principal Component Analysis Based Broadband Hybrid Precoding for Millimeter-Wave Massive MIMO Systems

Hybrid analog-digital precoding is challenging for broadband millimeter-wave (mmWave) massive MIMO systems, since the analog precoder is frequency-flat but the mmWave channels are frequency-selective. In this paper, we propose a principal component analysis (PCA)-based broadband hybrid precoder/combiner design, where both the fully-connected array and partially-connected subarray (including the fixed and adaptive subarrays) are investigated. Specifically, we first design the hybrid precoder/combiner for fully-connected array and fixed subarray based on PCA, whereby a low-dimensional frequency-flat precoder/combiner is acquired based on the optimal high-dimensional frequency-selective precoder/combiner. Meanwhile, the near-optimality of our proposed PCA approach is theoretically proven. Moreover, for the adaptive subarray, a low-complexity shared agglomerative hierarchical clustering algorithm is proposed to group the antennas for the further improvement of spectral efficiency (SE) performance. Besides, we theoretically prove that the proposed antenna grouping algorithm is only determined by the slow time-varying channel parameters in the large antenna limit. Simulation results demonstrate the superiority of the proposed solution over state-of-the-art schemes in SE, energy efficiency (EE), bit-error-rate performance, and the robustness to time-varying channels. Our work reveals that the EE advantage of adaptive subarray over fully-connected array is obvious for both active and passive antennas, but the EE advantage of fixed subarray only holds for passive antennas.

cs.IT↗
arXiv2019

Compressive Sensing Based Channel Estimation for Millimeter-Wave Full-Dimensional MIMO with Lens-Array

Channel estimation (CE) for millimeter-wave (mmWave) lens-array suffers from prohibitive training overhead, whereas the state-of-the-art solutions require an extra complicated radio frequency phase shift network. By contrast, lens-array using antenna switching network (ASN) simplifies the hardware, but the associated CE is a challenging task due to the constraint imposed by ASN. This paper proposes a compressive sensing (CS)-based CE solution for full-dimensional (FD) lens-array, where the mmWave channel sparsity is exploited. Specifically, we first propose an approach of pilot training under the more severe haraware constraint imposed by ASN, and formulate the associated CE of lens-array as a CS problem. Then, a redundant dictionary is tailored for FD lens-array to combat the power leakage caused by the continuous angles of multipath components. Further, we design the baseband pilot signals to minimize the total mutual coherence of the measurement matrix based on CS theory for more reliable CE performance. Our solution provides a framework for applying CS techniques to lens-array using simple and practical ASN. Simulation results demonstrate the effectiveness of the proposed scheme.

cs.IT↗
arXiv2019

A New Small-World IoT Routing Mechanism based on Cayley Graphs

An increasing number of low-power Internet of Things (IoT) devices will be widely deployed in the near future. Considering the short-range communication of low-power devices, multi-hop transmissions will become an important transmission mechanism in IoT networks. It is crucial for lowpower devices to transmit data over long distances via multihop in a low-delay and reliable way. Small-world characteristics of networks indicate that the network has an advantage of a small Average Shortest-path Length (ASL) and a high Average Clustering Coefficient (ACC). In this paper, a new IoT routing mechanism considering small-world characteristics is proposed to reduce the delay and improve the reliability. The ASL and ACC are derived for performance analysis of small-world characteristics in IoT networks based on Cayley graphs. Besides, the reliability and delay models are proposed for Small-World IoT based on Cayley grapHs (SWITCH). Simulation results demonstrate that SWITCH has lower delay and better reliability than that of conventional Nearest Neighboring Routing (NNR). Moreover, the maximum delay of SWITCH is reduced by 50.6% compared with that by NNR.

cs.NI↗
arXiv2018

Cost Efficiency Optimization of 5G Wireless Backhaul Networks

The wireless backhaul network provides an attractive solution for the urban deployment of fifth generation (5G) wireless networks that enables future ultra dense small cell networks to meet the ever-increasing user demands. Optimal deployment and management of 5G wireless backhaul networks is an interesting and challenging issue. In this paper we propose the optimal gateways deployment and wireless backhaul route schemes to maximize the cost efficiency of 5G wireless backhaul networks. In generally, the changes of gateways deployment and wireless backhaul route are presented in different time scales. Specifically, the number and locations of gateways are optimized in the long time scale of 5G wireless backhaul networks. The wireless backhaul routings are optimized in the short time scale of 5G wireless backhaul networks considering the time-variant over wireless channels. Numerical results show the gateways and wireless backhaul route optimization significantly increases the cost efficiency of 5G wireless backhaul networks. Moreover, the cost efficiency of proposed optimization algorithm is better than that of conventional and most widely used shortest path (SP) and Bellman-Ford (BF) algorithms in 5G wireless backhaul networks.

cs.NI↗
arXiv2018

A Topological Approach to Secure Message Dissemination in Vehicular Networks

Secure message dissemination is an important issue in vehicular networks, especially considering the vulnerability of vehicle to vehicle message dissemination to malicious attacks. Traditional security mechanisms, largely based on message encryption and key management, can only guarantee secure message exchanges between known source and destination pairs. In vehicular networks however, every vehicle may learn its surrounding environment and contributes as a source, while in the meantime act as a destination or a relay of information from other vehicles, message exchanges often occur between "stranger" vehicles. For secure message dissemination in vehicular networks against insider attackers, who may tamper the content of the disseminated messages, ensuring the consistency and integrity of the transmitted messages becomes a major concern that traditional message encryption and key management based approaches fall short to provide. In this paper, by incorporating the underlying network topology information, we propose an optimal decision algorithm that is able to maximize the chance of making a correct decision on the message content, assuming the prior knowledge of the percentage of malicious vehicles in the network. Furthermore, a novel heuristic decision algorithm is proposed that can make decisions without the aforementioned knowledge of the percentage of malicious vehicles. Simulations are conducted to compare the security performance achieved by our proposed decision algorithms with that achieved by existing ones that do not consider or only partially consider the topological information, to verify the effectiveness of the algorithms. Our results show that by incorporating the network topology information, the security performance can be much improved. This work shed light on the optimum algorithm design for secure message dissemination.

cs.IT↗