| 1. |
- Fröhle, Markus, 1984, et al.
(författare)
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Formation control of multi-agent systems with location uncertainty
- 2017
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Ingår i: Multi-Technology Positioning. - Cham : Springer International Publishing. - 9783319504261 ; , s. 125-147
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- In this chapter the impact of realistic communication channels and uncertain location information on formation control of multi-agent systems aiming to achieve a common task is highlighted. First, the work is motivated by elucidating the need to incorporate realistic communication models as well as the need to model the agents’ location uncertainty. Second, it is discussed how control can be utilised to reduce the agents positioning error in cooperative systems to achieve a higher level goal, such as steering a group of agents towards a destination. Third, the impact of location uncertainty on channel gain prediction is addressed for formation control. Finally, conclusions and an outlook on future directions for controlled multi-agent systems are provided.
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| 2. |
- Pasanen, Pirjo, et al.
(författare)
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EU FP6 IST-2003-507581 WINNER, D2.6 Assessment of Multiple Access Technologies, Oct 2004.
- 2004
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- The objective of this deliverable is to perform a first assessment of wireless access/multipleaccess technologies for the WINNER system concept. The study of multiple access schemes is theresponsibility of Task 4 within the WINNER workpackage 2. The work requires the collection andassessment of the numerous ideas and proposals available. The technologies and combinations oftechnologies are also assessed and compared, to identify the most promising strategies and combinations.The latter work is primarily performed by multi-link simulation and system-level simulation
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| 3. |
- Plass, Simon, et al.
(författare)
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Block-equidistant resource mapping in OFDM, MC-CDMA and SS-MC-MA
- 2007
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Ingår i: 12th International OFDM Workshop, Hanburg, Germany, August 2007..
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Konferensbidrag (refereegranskat)abstract
- A resource allocation scheme for nextgeneration multi-carrier systems is analyzed in thispaper. The mapping scheme is based on a blockequidistantdistribution of the user resources for nonfrequency-adaptive downlink transmissions. This leadsto benefits of frequency diversity, potential powersavings by user terminal sleep mode, and reduction ofsignalling overhead. The mapping scheme is appliedand investigated for different multi-carrier schemes,namely OFDMA, MC-CDMA, and SS-MC-MA in thecontext of the WINNER system.
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| 4. |
- Zhang, Siwei, et al.
(författare)
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Distributed Direct Localization Suitable for Dense Networks
- 2020
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Ingår i: IEEE Transactions on Aerospace and Electronic Systems. - 1557-9603 .- 0018-9251. ; 56:2, s. 1209-1227
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Tidskriftsartikel (refereegranskat)abstract
- Traditional network localization algorithms contain ranging and localization steps, which have systematic disadvantages. We propose an algorithm dubbed direct particle filter based distributed network localization (DiPNet). A node's location is directly estimated from the received signals, incorporating location uncertainty of neighboring nodes. The propagation effects on DiPNet become insignificant for dense networks, due to the massive-link collective physical layer processing. DiPNet achieves a near-optimal performance with low complexity, which is particularly attractive for realtime dense-network localization.
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| 5. |
- Zhang, Siwei, et al.
(författare)
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Location-Aware Formation Control in Swarm Navigation
- 2015
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Ingår i: IEEE Globecom Workshops. - 9781467395267
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Konferensbidrag (refereegranskat)abstract
- Goal-seeking and information-seeking are canonical problems in mobile agent swarms. We study the problem of collaborative goal-approaching under uncertain agent position information. We propose a framework that establishes location-aware formations, resulting in a controller that accounts for agent position uncertainty with a realistic ranging model. Simulation results confirm that, as the outcome of the controller, the swarm moves towards its goal, while emerging formations conducive to high-quality localization.
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| 6. |
- Zhang, Siwei, et al.
(författare)
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Self-Aware Swarm Navigation in Autonomous Exploration Missions
- 2020
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Ingår i: Proceedings of the IEEE. - 1558-2256 .- 0018-9219. ; 108:7, s. 1168-1195
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Forskningsöversikt (refereegranskat)abstract
- A multitude of autonomous robotic platforms collectively organized as a swarm attracts increasing attention for remote sensing and exploration tasks. A navigation system is essential for the swarm to collectively localize itself as well as external sources. In this article, we propose a self-aware swarm navigation system that is conscious of the causality between its position and the localization uncertainty. This knowledge allows the swarm to move in a way to not only account for external mission objectives but also enhance position information. Position information for classical navigation systems has already been studied with the Fisher information (FI) and Bayesian information (BI) theories. We show how to extend these theories to a self-aware swarm navigation system, particularly emphasizing the collective performance. In this respect, fundamental limits and geometric interpretations of localization with generic observation models are discussed. We further propose a general concept of FI and BI based information seeking swarm control. The weighted position Cramer-Rao bound (CRB) and posterior CRB (PCRB) are employed flexibly as either a control cost function or constraints according to different mission criteria. As a result, the swarm actively adapts its position to enrich position information with different emerging collective behaviors. The proposed concept is illustrated by a case study of a swarm mission for gas exploration on Mars.
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