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This paper introduces a novel power allocation and subcarrier optimization algorithm tailored for fixed wireless access (FWA) networks operating under low-rank channel conditions, where the number of subscriber antennas far exceeds those at the base station (BS). As FWA networks grow to support more users, traditional approaches like orthogonal multiple access (OMA) and non-orthogonal multiple access (NOMA) struggle to maintain high data rates and energy efficiency due to the limited degrees of freedom in low-rank scenarios. Our proposed solution addresses this by combining optimal power-subcarrier allocation with an adaptive time-sharing algorithm that dynamically adjusts decoding orders to optimize performance across multiple users. The algorithm leverages a generalized decision feedback equalizer (GDFE) approach to effectively manage inter-symbol interference and crosstalk, leading to superior data rates and energy savings. Simulation results demonstrate that our approach significantly outperforms existing OMA and NOMA baselines, particularly in low-rank conditions, with substantial gains in both data rate and energy efficiency. The findings highlight the potential of this method to meet the growing demand for scalable, high-performance FWA networks., Comment: IEEE GLOBECOM 2024

The ever-evolving landscape of distributed wireless systems, e.g. multi-user AR/VR systems, demands high data rates (up to 500 Mbps per user) and low power consumption. With increasing number of participating users, uplink data transmission in the situation where the number of transmitter user antennas exceeds the number of access point (AP) antennas presents a low-rank channel problem. Current Wi-Fi standards using orthogonal multiple access (OMA) fail to address these requirements. Non-orthogonal multiple access (NOMA)-based systems, while outperforming the OMA methods, still fall short of the requirement in low-rank channel uplink transmission, because they adhere to a single decoding order for successive interference cancelation (SIC). This paper proposes and develops a novel optimal power-subcarrier allocation algorithm to maximize the achieved data rates for this low rank channel scenario. Additionally, the proposed algorithm implements a novel time-sharing algorithm for simultaneously participating users, which adaptively varies the decoding orders to achieve higher data rates than any single decoding order. Extensive experimental validations demonstrate that the proposed algorithm achieves 39%, 28%, and 16% higher sum data rates than OMA, NOMA, and multi-carrier NOMA baselines respectively, under low-rank channel conditions, under varying SNR values. We further show that the proposed algorithm significantly outperforms the baselines with varying numbers of users or AP antennas, showing the effectiveness of the optimal power allocation and time-sharing., Comment: IEEE GLOBECOM 2024

Using techniques coming from the theory of marked bases, we develop new computational methods for detection and construction of Cohen-Macaulay, Gorenstein and complete intersection homogeneous polynomial ideals. Thanks to the functorial properties of marked bases, an elementary and effective proof of the openness of arithmetically Cohen-Macaulay, arithmetically Gorenstein and strict complete intersection loci in a Hilbert scheme follows, for a non-constant Hilbert polynomial., Comment: 29 pages, comments are welcome

The Mars Science Helicopter (MSH) mission aims to deploy the next generation of unmanned helicopters on Mars, targeting landing sites in highly irregular terrain such as Valles Marineris, the largest canyons in the Solar system with elevation variances of up to 8000 meters. Unlike its predecessor, the Mars 2020 mission, which relied on a state estimation system assuming planar terrain, MSH requires a novel approach due to the complex topography of the landing site. This work introduces a novel range-visual-inertial odometry system tailored for the unique challenges of the MSH mission. Our system extends the state-of-the-art xVIO framework by fusing consistent range information with visual and inertial measurements, preventing metric scale drift in the absence of visual-inertial excitation (mono camera and constant velocity descent), and enabling landing on any terrain structure, without requiring any planar terrain assumption. Through extensive testing in image-based simulations using actual terrain structure and textures collected in Mars orbit, we demonstrate that our range-VIO approach estimates terrain-relative velocity meeting the stringent mission requirements, and outperforming existing methods., Comment: IEEE/RSJ International Conference on Intelligent Robots (IROS), 2024

Channel estimation poses significant challenges in millimeter-wave massive multiple-input multiple-output systems, especially when the base station has fewer radio-frequency chains than antennas. To address this challenge, one promising solution exploits the beamspace channel sparsity to reconstruct full-dimensional channels from incomplete measurements. This paper presents a model-based deep learning method to reconstruct sparse, as well as approximately sparse, vectors fast and accurately. To implement this method, we propose a trimmed-ridge regression that transforms the sparse-reconstruction problem into a least-squares problem regularized by a nonconvex penalty term, and then derive an iterative solution. We then unfold the iterations into a deep network that can be implemented in online applications to realize real-time computations. To this end, an unfolded trimmed-ridge regression model is constructed using a structural configuration to reduce computational complexity and a model ensemble strategy to improve accuracy. Compared with other state-of-the-art deep learning models, the proposed learning scheme achieves better accuracy and supports higher downlink sum rates., Comment: Accepted by IEEE Transactions on Communications

Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design choices that require several weeks of hyperparameter tuning by human experts, hindering generalizability and robustness. We address these challenges by reframing VO as a sequential decision-making task and applying Reinforcement Learning (RL) to adapt the VO process dynamically. Our approach introduces a neural network, operating as an agent within the VO pipeline, to make decisions such as keyframe and grid-size selection based on real-time conditions. Our method minimizes reliance on heuristic choices using a reward function based on pose error, runtime, and other metrics to guide the system. Our RL framework treats the VO system and the image sequence as an environment, with the agent receiving observations from keypoints, map statistics, and prior poses. Experimental results using classical VO methods and public benchmarks demonstrate improvements in accuracy and robustness, validating the generalizability of our RL-enhanced VO approach to different scenarios. We believe this paradigm shift advances VO technology by eliminating the need for time-intensive parameter tuning of heuristics.

We present a new method to bake classical facial animation blendshapes into a fast linear blend skinning representation. Previous work explored skinning decomposition methods that approximate general animated meshes using a dense set of bone transformations; these optimizers typically alternate between optimizing for the bone transformations and the skinning weights.We depart from this alternating scheme and propose a new approach based on proximal algorithms, which effectively means adding a projection step to the popular Adam optimizer. This approach is very flexible and allows us to quickly experiment with various additional constraints and/or loss functions. Specifically, we depart from the classical skinning paradigms and restrict the transformation coefficients to contain only about 10% non-zeros, while achieving similar accuracy and visual quality as the state-of-the-art. The sparse storage enables our method to deliver significant savings in terms of both memory and run-time speed. We include a compact implementation of our new skinning decomposition method in PyTorch, which is easy to experiment with and modify to related problems.

Large-scale infrastructures are prone to deterioration due to age, environmental influences, and heavy usage. Ensuring their safety through regular inspections and maintenance is crucial to prevent incidents that can significantly affect public safety and the environment. This is especially pertinent in the context of electrical power networks, which, while essential for energy provision, can also be sources of forest fires. Intelligent drones have the potential to revolutionize inspection and maintenance, eliminating the risks for human operators, increasing productivity, reducing inspection time, and improving data collection quality. However, most of the current methods and technologies in aerial robotics have been trialed primarily in indoor testbeds or outdoor settings under strictly controlled conditions, always within the line of sight of human operators. Additionally, these methods and technologies have typically been evaluated in isolation, lacking comprehensive integration. This paper introduces the first autonomous system that combines various innovative aerial robots. This system is designed for extended-range inspections beyond the visual line of sight, features aerial manipulators for maintenance tasks, and includes support mechanisms for human operators working at elevated heights. The paper further discusses the successful validation of this system on numerous electrical power lines, with aerial robots executing flights over 10 kilometers away from their ground control stations.

Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners focus on the core problems. To this end, we present Agilicious, a co-designed hardware and software framework tailored to autonomous, agile quadrotor flight. It is completely open-source and open-hardware and supports both model-based and neural-network--based controllers. Also, it provides high thrust-to-weight and torque-to-inertia ratios for agility, onboard vision sensors, GPU-accelerated compute hardware for real-time perception and neural-network inference, a real-time flight controller, and a versatile software stack. In contrast to existing frameworks, Agilicious offers a unique combination of flexible software stack and high-performance hardware. We compare Agilicious with prior works and demonstrate it on different agile tasks, using both model-based and neural-network--based controllers. Our demonstrators include trajectory tracking at up to 5g and 70 km/h in a motion-capture system, and vision-based acrobatic flight and obstacle avoidance in both structured and unstructured environments using solely onboard perception. Finally, we demonstrate its use for hardware-in-the-loop simulation in virtual-reality environments. Thanks to its versatility, we believe that Agilicious supports the next generation of scientific and industrial quadrotor research., Comment: 14 pages, 5 figures, 2 tables

Visual-inertial odometry (VIO) is the most common approach for estimating the state of autonomous micro aerial vehicles using only onboard sensors. Existing methods improve VIO performance by including a dynamics model in the estimation pipeline. However, such methods degrade in the presence of low-fidelity vehicle models and continuous external disturbances, such as wind. Our proposed method, HDVIO, overcomes these limitations by using a hybrid dynamics model that combines a point-mass vehicle model with a learning-based component that captures complex aerodynamic effects. HDVIO estimates the external force and the full robot state by leveraging the discrepancy between the actual motion and the predicted motion of the hybrid dynamics model. Our hybrid dynamics model uses a history of thrust and IMU measurements to predict the vehicle dynamics. To demonstrate the performance of our method, we present results on both public and novel drone dynamics datasets and show real-world experiments of a quadrotor flying in strong winds up to 25 km/h. The results show that our approach improves the motion and external force estimation compared to the state-of-the-art by up to 33% and 40%, respectively. Furthermore, differently from existing methods, we show that it is possible to predict the vehicle dynamics accurately while having no explicit knowledge of its full state.

Drones have the potential to revolutionize power line inspection by increasing productivity, reducing inspection time, improving data quality, and eliminating the risks for human operators. Current state-of-the-art systems for power line inspection have two shortcomings: (i) control is decoupled from perception and needs accurate information about the location of the power lines and masts; (ii) obstacle avoidance is decoupled from the power line tracking, which results in poor tracking in the vicinity of the power masts, and, consequently, in decreased data quality for visual inspection. In this work, we propose a model predictive controller (MPC) that overcomes these limitations by tightly coupling perception and action. Our controller generates commands that maximize the visibility of the power lines while, at the same time, safely avoiding the power masts. For power line detection, we propose a lightweight learning-based detector that is trained only on synthetic data and is able to transfer zero-shot to real-world power line images. We validate our system in simulation and real-world experiments on a mock-up power line infrastructure. We release our code and datasets to the public.