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In the domain of mobile robot navigation, conventional path-planning algorithms typically rely on predefined rules and prior map information, which exhibit significant limitations when confronting unknown, intricate environments. With the rapid evolution of artificial intelligence technology, deep reinforcement learning (DRL) algorithms have demonstrated considerable effectiveness across various application scenarios. In this investigation, we introduce a self-exploration and navigation approach based on a deep reinforcement learning framework, aimed at resolving the navigation challenges of mobile robots in unfamiliar environments. Firstly, we fuse data from the robot's onboard lidar sensors and camera and integrate odometer readings with target coordinates to establish the instantaneous state of the decision environment. Subsequently, a deep neural network processes these composite inputs to generate motion control strategies, which are then integrated into the local planning component of the robot's navigation stack. Finally, we employ an innovative heuristic function capable of synthesizing map information and global objectives to select the optimal local navigation points, thereby guiding the robot progressively toward its global target point. In practical experiments, our methodology demonstrates superior performance compared to similar navigation methods in complex, unknown environments devoid of predefined map information. [ABSTRACT FROM AUTHOR]

In this paper, we investigate channel allocation for ultradense device-to-device (D2D) communications. Different from both binary graph and undirected hypergraph interference model, an improved directed hypergraph is applied to simultaneously represent cumulative and asymmetric interference aspects in the context of ultradense communications. We formulate the channel access problem in cloud D2D communication networks as a directed-hypergraph-based local altruistic game, which is proved to be an exact potential game. Then, a multiagent concurrent learning scheme in centralized-distributed fashion is proposed to search the optimal pure Nash equilibrium, which can also maximize the normalized network capacity. Finally, simulation results are presented to validate the proposed learning scheme. [ABSTRACT FROM AUTHOR]

In this paper, we investigate the anti-jamming channel selection problem for interference mitigation (IM) based dense wireless networks in dynamic environment, in which the active user set is variable due to their specific traffic demands. We jointly consider the mutual interference among users and external jamming in IM-based dense wireless networks, and propose a generalized maximum protocol interference and jamming model to accurately capture the mutual interference and external jamming. Then, the anti-jamming channel selection problem is formulated as an anti-jamming dynamic game, and subsequently it is proved to be an exact potential game, which has at least one pure strategy Nash equilibrium (NE). Based on the stochastic learning theory, a distributed anti-jamming channel selection algorithm (DACSA) is proposed to find the NE solution. Moreover, the simulation results are presented to demonstrate the effectiveness of the proposed DACSA algorithm. [ABSTRACT FROM AUTHOR]

The sphere decoding (SD) algorithm can provide (sub)optimal solutions with reduced computational complexity of maximum likelihood (ML) detection for multi-input multi-output (MIMO) communication systems. In this paper, we propose a novel low complexity symmetric-coded based SD algorithm for short polar codes with low rate. At the encoding stage, the first N/2 sub-channels transmit the frozen bits, while the information bits are selected from the latter N/2 sub-channels. Two symmetric codes are generated due to the mathematical structure of the generator matrix, which is well conditioned to the SD search. At the decoding stage, the presented SD algorithm computes the Euclidean distance value by the combined signals to estimate the latter N/2 input bits. Furthermore, the backtrack operation starts from the earlier (N / 2 + 1) -th bit, which can significantly reduce the average visited nodes (AVN). Simulation results show that, compared to the original SD algorithm, the presented variant of the SD algorithm can reduce the AVN to 0.9 % for the polar code P(64, 14) at SNR = 1 dB with a performance loss within 0.2 dB. The presented SD algorithm may find applications in MIMO systems where the complexity of the standar ML detection increases exponentially with the transmitting antennas. [ABSTRACT FROM AUTHOR]

In this paper, we investigate the content delivery in edge caching networks where requesters can get the interested contents from surrounding helpers by device-to-device (D2D) communications. Taking the finite service capacity and cache space of helpers into account, the problem is to maximize the number of requesters obtaining all desired contents by optimizing the selection of content sources. The hypergraph theory is first applied to analyze the cumulative content effect caused by multiple content sources, and the problem is formulated as a hypergraph based cooperation cache game with at least one pure Nash equilibrium (NE). The log-linear based cooperation caching algorithm (LBCC) is proposed to find the corresponding NE points. Simulation results verify the superiority of the proposed LBCC. [ABSTRACT FROM AUTHOR]