arXiv subjects

Monica Nicoli

Publications and source records attributed to Monica Nicoli.

28 records · Page 2Linked to original sources

arXiv2021

Residual Motion Compensation in Automotive MIMO SAR Imaging

This paper deals with the analysis, estimation, and compensation of trajectory errors in automotive-based Synthetic Aperture Radar (SAR) systems. First of all, we define the geometry of the acquisition and the model of the received signal. We then proceed by analytically evaluating the effect of an error in the vehicle's trajectory. Based on the derived model, we introduce a motion compensation (MoCo) procedure capable of estimating and compensating constant velocity motion errors leading to a well-focused and well-localized SAR image. The procedure is validated using real data gathered by a 77 GHz automotive SAR with MIMO capabilities.

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arXiv2021

Fastening the Initial Access in 5G NR Sidelink for 6G V2X Networks

The ever-increasing demand for intelligent, automated, and connected mobility solutions pushes for the development of an innovative sixth Generation (6G) of cellular networks. A radical transformation on the physical layer of vehicular communications is planned, with a paradigm shift towards beam-based millimeter Waves or sub-Terahertz communications, which require precise beam pointing for guaranteeing the communication link, especially in high mobility. A key design aspect is a fast and proactive Initial Access (IA) algorithm to select the optimal beam to be used. In this work, we investigate alternative IA techniques to fasten the current fifth-generation (5G) standard, targeting an efficient 6G design. First, we discuss cooperative position-based schemes that rely on the position information. Then, motivated by the intuition of a non-uniform distribution of the communication directions due to road topology constraints, we design two Probabilistic Codebook (PCB) techniques of prioritized beams. In the first one, the PCBs are built leveraging past collected traffic information, while in the second one, we use the Hough Transform over the digital map to extract dominant road directions. We also show that the information coming from the angular probability distribution allows designing non-uniform codebook quantization, reducing the degradation of the performances compared to uniform one. Numerical simulation on realistic scenarios shows that PCBs-based beam selection outperforms the 5G standard in terms of the number of IA trials, with a performance comparable to position-based methods, without requiring the signaling of sensitive information.

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arXiv2021

6G V2X Technologies and Orchestrated Sensing for Autonomous Driving

6G technology targets to revolutionize the mobility industry by revamping the role of wireless connections. In this article, we draw out our vision on an intelligent, cooperative, and sustainable mobility environment of the future, discussing how 6G will positively impact mobility services and applications. The scenario in focus is a densely populated area by smart connected entities that are mutually connected over a 6G virtual bus, which enables access to an extensive and always up-to-date set of context-sensitive information. The augmented dataset is functional to let vehicles engage in adaptive and cooperative learning mechanisms, enabling fully automated functionalities with higher communication integrity and reduced risk of accidents while being a sentient and collaborative processing node of the same ecosystem. Smart sensing and communication technologies are discussed herein, and their convergence is devised by the pervasiveness of artificial intelligence in centralized or distributed and federated network architectures.

cs.NI↗

arXiv2021

Sensor-Aided Beamwidth and Power Control for Next Generation Vehicular Communications

Ultra-reliable low-latency Vehicle-to-Everything (V2X) communications are needed to meet the extreme requirements of enhanced driving applications. Millimeter-Wave (24.25-52.6 GHz) or sub-THz (>100 GHz) V2X communications are a viable solution, provided that the highly collimated beams are kept aligned during vehicles' maneuverings. In this work, we propose a sensor-assisted dynamic Beamwidth and Power Control (BPC) system to counteract the detrimental effect of vehicle dynamics, exploiting data collected by on-board inertial and positioning sensors, mutually exchanged among vehicles over a parallel low-rate link, e.g., 5G New Radio (NR) Frequency Range 1 (FR1). The proposed BPC solution works on top of a sensor-aided Beam Alignment and Tracking (BAT) system, overcoming the limitations of fixed-beamwidth systems and optimizing the performance in challenging Vehicle-to-Vehicle (V2V) scenarios, even if extensions to Vehicle-to-Infrastructure (V2I) use-cases are feasible. We validate the sensor-assisted dynamic BPC on real trajectories and sensors' data collected by a dedicated experimental campaign. The goal is to show the advantages of the proposed BPC strategy in a high data-rate Line-Of-Sight (LOS) V2V context, and to outline the requirements in terms of sensors' sampling time and accuracy, along with the end-to-end latency on the control channel.

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arXiv2021

Opportunities of Federated Learning in Connected, Cooperative and Automated Industrial Systems

Next-generation autonomous and networked industrial systems (i.e., robots, vehicles, drones) have driven advances in ultra-reliable, low latency communications (URLLC) and computing. These networked multi-agent systems require fast, communication-efficient and distributed machine learning (ML) to provide mission critical control functionalities. Distributed ML techniques, including federated learning (FL), represent a mushrooming multidisciplinary research area weaving in sensing, communication and learning. FL enables continual model training in distributed wireless systems: rather than fusing raw data samples at a centralized server, FL leverages a cooperative fusion approach where networked agents, connected via URLLC, act as distributed learners that periodically exchange their locally trained model parameters. This article explores emerging opportunities of FL for the next-generation networked industrial systems. Open problems are discussed, focusing on cooperative driving in connected automated vehicles and collaborative robotics in smart manufacturing.

cs.LG↗

arXiv2019

Federated Learning with Cooperating Devices: A Consensus Approach for Massive IoT Networks

Federated learning (FL) is emerging as a new paradigm to train machine learning models in distributed systems. Rather than sharing, and disclosing, the training dataset with the server, the model parameters (e.g. neural networks weights and biases) are optimized collectively by large populations of interconnected devices, acting as local learners. FL can be applied to power-constrained IoT devices with slow and sporadic connections. In addition, it does not need data to be exported to third parties, preserving privacy. Despite these benefits, a main limit of existing approaches is the centralized optimization which relies on a server for aggregation and fusion of local parameters; this has the drawback of a single point of failure and scaling issues for increasing network size. The paper proposes a fully distributed (or server-less) learning approach: the proposed FL algorithms leverage the cooperation of devices that perform data operations inside the network by iterating local computations and mutual interactions via consensus-based methods. The approach lays the groundwork for integration of FL within 5G and beyond networks characterized by decentralized connectivity and computing, with intelligence distributed over the end-devices. The proposed methodology is verified by experimental datasets collected inside an industrial IoT environment.

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arXiv2019

Inertial Sensor Aided mmWave Beam Tracking to Support Cooperative Autonomous Driving

This paper presents an inertial sensor aided technique for beam alignment and tracking in massive multiple-input multiple-output (MIMO) vehicle-to-vehicle (V2V) communications based on millimeter waves (mmWave). Since directional communications in vehicular scenarios are severely hindered by beam pointing issues, a beam alignment procedure has to be periodically carried out to guarantee the communication reliability. When dealing with massive MIMO links, the beam sweeping approach is known to be time consuming and often unfeasible due to latency constraints. To speed up the process, we propose a method that exploits a-priori information on array dynamics provided by an inertial sensor on transceivers to assist the beam alignment procedure. The proposed inertial sensor aided technique allows a continuous tracking of the beam while transmitting, avoiding frequent realignment phases. Numerical results based on real measurements of on-transceiver accelerometers demonstrate a significant gain in terms of V2V communication throughput with respect to conventional beam alignment protocols.

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arXiv2019

RF-Assisted Free-Space Optics for 5G Vehicle-to-Vehicle Communications

Vehicle-to-Vehicle (V2V) communications are being proposed, tested and deployed to improve road safety and traffic efficiency. However, the automotive industry poses strict requirements for safety-critical applications, that call for reliable, low latency and high data rate communications. In this context, it is widely agreed that both Radio-Frequency (RF) technologies at mmWaves and Free-Space Optics (FSO) represent promising solutions, although their performances are severely degraded by transmitter-receiver misalignment due to the challenging high-mobility conditions. By combining RF and FSO technologies, this paper proposes a FSO-based V2V communication system where the pointing coordinates of laser sources are based on vehicle's information exchanged over a reliable low-rate RF link. Numerical simulations demonstrate that such compensation mechanism is mandatory to counteract the unavoidable misalignments induced by vehicle dynamics, and thus to enable FSO technology for V2V communications even in high mobility scenarios.

cs.IT↗

arXiv2017

Implicit Cooperative Positioning in Vehicular Networks

Absolute positioning of vehicles is based on Global Navigation Satellite Systems (GNSS) combined with on-board sensors and high-resolution maps. In Cooperative Intelligent Transportation Systems (C-ITS), the positioning performance can be augmented by means of vehicular networks that enable vehicles to share location-related information. This paper presents an Implicit Cooperative Positioning (ICP) algorithm that exploits the Vehicle-to-Vehicle (V2V) connectivity in an innovative manner, avoiding the use of explicit V2V measurements such as ranging. In the ICP approach, vehicles jointly localize non-cooperative physical features (such as people, traffic lights or inactive cars) in the surrounding areas, and use them as common noisy reference points to refine their location estimates. Information on sensed features are fused through V2V links by a consensus procedure, nested within a message passing algorithm, to enhance the vehicle localization accuracy. As positioning does not rely on explicit ranging information between vehicles, the proposed ICP method is amenable to implementation with off-the-shelf vehicular communication hardware. The localization algorithm is validated in different traffic scenarios, including a crossroad area with heterogeneous conditions in terms of feature density and V2V connectivity, as well as a real urban area by using Simulation of Urban MObility (SUMO) for traffic data generation. Performance results show that the proposed ICP method can significantly improve the vehicle location accuracy compared to the stand-alone GNSS, especially in harsh environments, such as in urban canyons, where the GNSS signal is highly degraded or denied.

cs.NI↗

arXiv2011

Partner selection in indoor-to-outdoor cooperative networks: an experimental study

In this paper, we develop a partner selection protocol for enhancing the network lifetime in cooperative wireless networks. The case-study is the cooperative relayed transmission from fixed indoor nodes to a common outdoor access point. A stochastic bivariate model for the spatial distribution of the fading parameters that govern the link performance, namely the Rician K-factor and the path-loss, is proposed and validated by means of real channel measurements. The partner selection protocol is based on the real-time estimation of a function of these fading parameters, i.e., the coding gain. To reduce the complexity of the link quality assessment, a Bayesian approach is proposed that uses the site-specific bivariate model as a-priori information for the coding gain estimation. This link quality estimator allows network lifetime gains almost as if all K-factor values were known. Furthermore, it suits IEEE 802.15.4 compliant networks as it efficiently exploits the information acquired from the receiver signal strength indicator. Extensive numerical results highlight the trade-off between complexity, robustness to model mismatches and network lifetime performance. We show for instance that infrequent updates of the site-specific model through K-factor estimation over a subset of links are sufficient to at least double the network lifetime with respect to existing algorithms based on path loss information only.

cs.NI↗