A central question in free-space optical communications is how to improve the transfer of information between a transmitter and a receiver. The capacity of the communication channel can be increased by multiplexing of independent modes using either: (1) the multiple-input–multiple-output (MIMO) approach, where communication is done with modes obtained from the singular value decomposition of the transfer matrix from the transmitter array to the receiver array, or (2) the orbital angular momentum (OAM) approach, which uses vortex beams that carry angular momenta. In both cases, the number of usable modes is limited by the finite aperture of the transmitter and receiver, and the effect of the turbulent atmosphere. The goal of this paper is twofold: first, we show that the MIMO and OAM multiplexing schemes are closely related. Specifically, in the case of circular apertures, the leading singular vectors of the transfer matrix, which are useful for communication, are essentially the same as the commonly used Laguerre–Gauss vortex beams, provided these have a special radius that depends on the wavelength, the distance from the transmitter to the receiver, and the ratio of the radii of their apertures. Second, we characterize the effect of atmospheric turbulence on the communication modes using the phase screen method put in the mathematical framework of beam propagation in random media.
Communication-Aware Robotics: Exploiting Motion for Communication
In this review, we present a comprehensive perspective on communication-aware robotics, an area that considers realistic communication environments and aims to jointly optimize communication and navigation. The main focus of the article is theoretical characterization and understanding of performance guarantees. We begin by summarizing the best prediction an unmanned vehicle can have of the channel quality at unvisited locations. We then consider the case of a single robot, showing how it can mathematically characterize the statistics of its traveled distance until connectivity and further plan its path to reach a connected location with optimality guarantees, in real channel environments and with minimum energy consumption. We then move to the case of multiple robots, showing how they can utilize their motions to enable robust information flow. We consider two specific robotic network configurations—robotic beamformers and robotic routers—and mathematically characterize properties of the co-optimum motion–communication decisions.
more »
« less
- Award ID(s):
- 2008449
- NSF-PAR ID:
- 10311755
- Date Published:
- Journal Name:
- Annual Review of Control, Robotics, and Autonomous Systems
- Volume:
- 4
- Issue:
- 1
- ISSN:
- 2573-5144
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
more » « less
-
The scale of modern datasets necessitates the development of efficient distributed optimization methods for machine learning. We present a general-purpose framework for distributed computing environments, CoCoA, that has an efficient communication scheme and is applicable to a wide variety of problems in machine learning and signal processing. We extend the framework to cover general non-strongly-convex regularizers, including L1-regularized problems like lasso, sparse logistic regression, and elastic net regularization, and show how earlier work can be derived as a special case. We provide convergence guarantees for the class of convex regularized loss minimization objectives, leveraging a novel approach in handling non-strongly-convex regularizers and non-smooth loss functions. The resulting framework has markedly improved performance over state-of-the-art methods, as we illustrate with an extensive set of experiments on real distributed datasets.more » « less
-
null (Ed.)Complex service robotics scenarios entail unpredictable task appearance both in space and time. This requires robots to continuously relocate and imposes a trade-off between motion costs and efficiency in task execution. In such scenarios, multi-robot systems and even swarms of robots can be exploited to service different areas in parallel. An efficient deployment needs to continuously determine the best allocation according to the actual service needs, while also taking relocation costs into account when such allocation must be modified. For large scale problems, centrally predicting optimal allocations and movement paths for each robot quickly becomes infeasible. Instead, decentralized solutions are needed that allow the robotic system to self-organize and adaptively respond to the task demands. In this paper, we propose a distributed and asynchronous approach to simultaneous task assignment and path planning for robot swarms, which combines a bio-inspired collective decision-making process for the allocation of robots to areas to be serviced, and a search-based path planning approach for the actual routing of robots towards tasks to be executed. Task allocation exploits a hierarchical representation of the workspace, supporting the robot deployment to the areas that mostly require service. We investigate four realistic environments of increasing complexity, where each task requires a robot to reach a location and work for a specific amount of time. The proposed approach improves over two different baseline algorithms in specific settings with statistical significance, while showing consistently good results overall. Moreover, the proposed solution is robust to limited communication and robot failures.more » « less
-
Sensors in and around the environment becoming ubiquitous has ushered in the concept of smart animal agriculture which has the potential to greatly improve animal health and productivity using the concepts of remote health monitoring which is a necessity in times when there is a great demand for animal products. The data from in and around animals gathered from sensors dwelling in animal agriculture settings have made farms a part of the Internet of Things space. This has led to active research in developing efficient communication methodologies for farm networks. This study focuses on the first hop of any such farm network where the data from inside the body of the animals is to be communicated to a node dwelling outside the body of the animal. In this paper, we use novel experimental methods to calculate the channel loss of signal at sub-GHz frequencies of 100 - 900 MHz to characterize the in-body to out-of-body communication channel in large animals. A first-of-its-kind 3D bovine modeling is done with computer vision techniques for detailed morphological features of the animal body is used to perform Finite Element Method based Electromagnetic simulations. The results of the simulations are experimentally validated to come up with a complete channel modeling methodology for in-body to out-of-body animal body communication. The experimentally validated 3D bovine model is made available publicly on https://github.com/SparcLab/Bovine-FEM-Model.git GitHub. The results illustrate that an in-body to out-of-body communication channel is realizable from the rumen to the collar of ruminants with $\leq {90}~{\rm dB}$ path loss at sub-GHz frequencies ( $100-900~MHz$ ) making communication feasible. The developed methodology has been illustrated for ruminants but can also be used for other related in-body to out-of-body studies. Using the developed channel modeling technique, an efficient communication architecture can be formed for in-body to out-of-body communication in animals which paves the way for the design and development of future smart animal agriculture systems.more » « less
-
This paper considers a planar multi-agent coordination problem. Unlike other related works, we explicitly consider a globally shared wireless communication channel where individual agents must choose both a frequency and power to transmit their messages at. This problem is motivated by the pressing need for algorithms that are able to efficiently and reliably operate on overcrowded wireless networks or otherwise poor-performing RF environments. We develop a self-triggered coordination algorithm that guarantees convergence to the desired set of states with probability 1. The algorithm is developed by using ideas from event/self-triggered coordination and allows agents to autonomously decide for themselves when to broadcast information, at which frequency and power, and how to move based on information received from other agents in the network. Simulations illustrate our results.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1146/annurev-control-071420-080708
