In this paper we derive a new capability for robots to measure relative direction, or Angle-of-Arrival (AOA), to other robots, while operating in non-line-of-sight and unmapped environments, without requiring external infrastructure. We do so by capturing all of the paths that a WiFi signal traverses as it travels from a transmitting to a receiving robot in the team, which we term as an AOA profile. The key intuition behind our approach is to emulate antenna arrays in the air as a robot moves freely in 2D or 3D space. The small differences in the phase and amplitude of WiFi signalsmore »
This content will become publicly available on November 27, 2022
Matrix Completion with Model-free Weighting
In this paper, we propose a novel method for matrix completion under general non-
uniform missing structures. By controlling an upper bound of a novel balancing error,
we construct weights that can actively adjust for the non-uniformity in the empirical risk
without explicitly modeling the observation probabilities, and can be computed efficiently
via convex optimization. The recovered matrix based on the proposed weighted empirical
risk enjoys appealing theoretical guarantees. In particular, the proposed method achieves
stronger guarantee than existing work in terms of the scaling with respect to the observation probabilities, under asymptotically heterogeneous missing settings (where entry-wise
observation probabilities can be of different orders). These settings can be regarded as a
better theoretical model of missing patterns with highly varying probabilities. We also
provide a new minimax lower bound under a class of heterogeneous settings. Numerical
experiments are also provided to demonstrate the effectiveness of the proposed method.
- Award ID(s):
- 1711952
- Publication Date:
- NSF-PAR ID:
- 10303652
- Journal Name:
- Proceedings of Machine Learning Research
- ISSN:
- 2640-3498
- Sponsoring Org:
- National Science Foundation
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