The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a robot's location as it navigates. The accuracy of such a beacon-based localization system depends both on how beacons are distributed in the environment, and how the robot's location is inferred based on noisy and potentially ambiguous measurements. We propose an approach for making these design decisions automatically and without expert supervision, by explicitly searching for the placement and inference strategies that, together, are optimal for a given environment. Since this search is computationally expensive, our approach encodes beacon placement as a differential neural layer that interfaces with a neural network for inference. This formulation allows us to employ standard techniques for training neural networks to carry out the joint optimization. We evaluate this approach on a variety of environments and settings, and find that it is able to discover designs that enable high localization accuracy.
In many scenarios, beacon allocation includes choosing both the location and channel for each beacon. These problems are typically assumed to be decoupled---the location of each beacon is first determined and then their channels are chosen to minimize interference @cite_10 This can result in a sub-optimal allocation. An exception is , who jointly solve access point placement and channel selection using a local search approximation, however they seek to maximize communication throughput, which is a more straightforward objective than localization and does not require reasoning over inference.
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Cooperative inter-vehicular applications rely on the exchange of broadcast single-hop status messages among vehicles, called beacons. The aggregated load on the wireless channel due to periodic beacons can prevent the transmission of other types of messages, what is called channel congestion due to beaconing activity. In this paper we approach the problem of controlling the beaconing rate on each vehicle by modeling it as a Network Utility Maximization (NUM) problem. This allows us to formally define the notion of fairness of a beaconing rate allocation in vehicular networks. The NUM model provides a rigorous framework to design a broad family of simple and decentralized algorithms, with proved convergence guarantees to a fair allocation solution. In this context, we propose the Fair Adaptive Beaconing Rate for Intervehicular Communications (FABRIC) algorithm, which uses a particular scaled gradient projection algorithm to solve the dual of the NUM problem. Simulation results validate our approach and show that, unlike recent proposals, FABRIC converges to fair rate allocations in multi-hop and dynamic scenarios. To deploy a multi-cell 802.11 wireless local area network (WLAN), access point (AP) placement and channel assignment are two primary design issues. For a given pattern of traffic demands, we aim at maximizing not only the overall system throughput, but also the fairness in resource sharing among mobile terminals. A novel method for estimating the system throughput of multi-cell WLAN is proposed. An important feature of this method is that co-channel overlapping is allowed. Unlike conventional approaches that decouple AP placement and channel assignment into two phases, we propose to jointly solve the two problems for better performance. The optimal solution can be found using exhaustive searching. Due to the high computational complexity involved in exhaustive searching, an efficient local searching algorithm, called patching algorithm, is designed. Numerical results show that for a typical indoor environment, patching algorithm can provide a close-to-optimal performance with much lower time complexity than exhaustive searching The localization of sensor nodes is a fundamental problem in sensor networks and can be implemented using powerful and expensive beacons. Beacons, the fewer the better, can acquire their position knowledge either from GPS devices or by virtue of being manually placed. In this paper, we propose a distributed method to localization of sensor nodes using a single moving beacon, where sensor nodes compute their position estimate based on the range-free technique. Two parameters are critical to the location accuracy of sensor nodes: the radio transmission range of the beacon and how often the beacon broadcasts its position. Theoretical analysis shows that these two parameters determine the upper bound of the estimation error when the traverse route of the beacon is a straight line. We extend the position estimate when the traverse route of the beacon is randomly chosen in a real-world situation, where the radio irregularity might cause a node to miss some crucial coordinate information from the beacon. We further point out that the movement pattern of the beacon plays a pivotal role in the localization task for sensors. To minimize estimation errors, sensor nodes can carry out a variety of algorithms in accordance with the movement of the beacon. Simulation results compare variants of the distributed method in a variety of testing environments. Real experiments show that the proposed method is feasible and can estimate the location of sensor nodes accurately, given a single moving beacon. The integration of wireless power transfer (WPT) with the low-power backscatter communications provides a promising way to sustain battery-less wireless networks. In this paper, we consider a backscatter communication network wirelessly powered by a power beacon station (PBS). Each backscatter radio uses the harvested energy to power its data transmissions, in which some other radios can help as the wireless relays with an aim to improve throughput performance by cooperative transmission. Under this setting, we formulate a throughput maximization problem to jointly optimize WPT and the relay strategy of the backscatter radios. An iterative algorithm with reduced complexity and communication overhead is proposed to decompose the original problem into two sub-problems distributed at the PBS and the backscatter receiver. Moreover, we take uncertain channel information into consideration and formulate robust counter-parts of the throughput maximization problem when either the backscatter or relay channel is subject to estimation errors. The difficulty of the robust counter-part lies in the coupling of the PBS’ power allocation and relay strategy in matrix inequalities, which is addressed by alternating optimization with guaranteed convergence. Numerical results reveal that the cooperative relay strategy of the backscatter radios significantly improves the throughput performance.