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This paper investigates a new downlink nonorthogonal multiple access (NOMA) system, where a multiantenna unmanned aerial vehicle (UAV) is powered by wireless power transfer (WPT) and serves as the base station for multiple pairs of ground users (GUs) running NOMA in each pair. An energy efficiency (EE) maximization problem is formulated to jointly optimize the WPT time and the placement for the UAV, and the allocation of the UAV's transmit power between different NOMA user pairs and within each pair. To efficiently solve this nonconvex problem, we decompose the problem into three subproblems using block coordinate descent. For the subproblem of intra-pair power allocation within each NOMA user pair, we construct a supermodular game with confirmed convergence to a Nash equilibrium. Given the intra-pair power allocation, successive convex approximation is applied to convexify and solve the subproblem of WPT time allocation and inter-pair power allocation between the user pairs. Finally, we solve the subproblem of UAV placement by using the Lagrange multiplier method. Simulations show that our approach can substantially outperform its alternatives that do not use NOMA and WPT techniques or that do not optimize the UAV location.

Automated vehicles require the ability to cooperate with humans for smooth integration into today's traffic. While the concept of cooperation is well known, developing a robust and efficient cooperative trajectory planning method is still a challenge. One aspect of this challenge is the uncertainty surrounding the state of the environment due to limited sensor accuracy. This uncertainty can be represented by a Partially Observable Markov Decision Process. Our work addresses this problem by extending an existing cooperative trajectory planning approach based on Monte Carlo Tree Search for continuous action spaces. It does so by explicitly modeling uncertainties in the form of a root belief state, from which start states for trees are sampled. After the trees have been constructed with Monte Carlo Tree Search, their results are aggregated into return distributions using kernel regression. We apply two risk metrics for the final selection, namely a Lower Confidence Bound and a Conditional Value at Risk. It can be demonstrated that the integration of risk metrics in the final selection policy consistently outperforms a baseline in uncertain environments, generating considerably safer trajectories.

The monotone variational inequality is a central problem in mathematical programming that unifies and generalizes many important settings such as smooth convex optimization, two-player zero-sum games, convex-concave saddle point problems, etc. The extragradient method by Korpelevich [1976] is one of the most popular methods for solving monotone variational inequalities. Despite its long history and intensive attention from the optimization and machine learning community, the following major problem remains open. What is the last-iterate convergence rate of the extragradient method for monotone and Lipschitz variational inequalities with constraints? We resolve this open problem by showing a tight $O\left(\frac{1}{\sqrt{T}}\right)$ last-iterate convergence rate for arbitrary convex feasible sets, which matches the lower bound by Golowich et al. [2020]. Our rate is measured in terms of the standard gap function. The technical core of our result is the monotonicity of a new performance measure -- the tangent residual, which can be viewed as an adaptation of the norm of the operator that takes the local constraints into account. To establish the monotonicity, we develop a new approach that combines the power of the sum-of-squares programming with the low dimensionality of the update rule of the extragradient method. We believe our approach has many additional applications in the analysis of iterative methods.

We present a method to simulate movement in interaction with computers, using Model Predictive Control (MPC). The method starts from understanding interaction from an Optimal Feedback Control (OFC) perspective. We assume that users aim to minimize an internalized cost function, subject to the constraints imposed by the human body and the interactive system. In contrast to previous linear approaches used in HCI, MPC can compute optimal controls for nonlinear systems. This allows us to use state-of-the-art biomechanical models and handle nonlinearities that occur in almost any interactive system. Instead of torque actuation, our model employs second-order muscles acting directly at the joints. We compare three different cost functions and evaluate the simulated trajectories against user movements in a Fitts' Law type pointing study with four different interaction techniques. Our results show that the combination of distance, control, and joint acceleration cost matches individual users' movements best, and predicts movements with an accuracy that is within the between-user variance. To aid HCI researchers and designers, we introduce CFAT, a novel method to identify maximum voluntary torques in joint-actuated models based on experimental data, and give practical advice on how to simulate human movement for different users, interaction techniques, and tasks.

The adoption of Unmanned Aerial Vehicles (UAVs) for public safety applications has skyrocketed in the last years. Leveraging on Physical Random Access Channel (PRACH) preambles, in this paper we pioneer a novel localization technique for UAVs equipped with cellular base stations used in emergency scenarios. We exploit the new concept of Orthogonal Time Frequency Space (OTFS) modulation (tolerant to channel Doppler spread caused by UAVs motion) to build a fully standards-compliant OTFS-modulated PRACH transmission and reception scheme able to perform time-of-arrival (ToA) measurements. First, we analyze such novel ToA ranging technique, both analytically and numerically, to accurately and iteratively derive the distance between localized users and the points traversed by the UAV along its trajectory. Then, we determine the optimal UAV speed as a trade-off between the accuracy of the ranging technique and the power needed by the UAV to reach and keep its speed during emergency operations. Finally, we demonstrate that our solution outperforms standard PRACH-based localization techniques in terms of Root Mean Square Error (RMSE) by about 20% in quasi-static conditions and up to 80% in high-mobility conditions.

Split learning (SL) is a collaborative learning framework, which can train an artificial intelligence (AI) model between a device and an edge server by splitting the AI model into a device-side model and a server-side model at a cut layer. The existing SL approach conducts the training process sequentially across devices, which incurs significant training latency especially when the number of devices is large. In this paper, we design a novel SL scheme to reduce the training latency, named Cluster-based Parallel SL (CPSL) which conducts model training in a "first-parallel-then-sequential" manner. Specifically, the CPSL is to partition devices into several clusters, parallelly train device-side models in each cluster and aggregate them, and then sequentially train the whole AI model across clusters, thereby parallelizing the training process and reducing training latency. Furthermore, we propose a resource management algorithm to minimize the training latency of CPSL considering device heterogeneity and network dynamics in wireless networks. This is achieved by stochastically optimizing the cut layer selection, real-time device clustering, and radio spectrum allocation. The proposed two-timescale algorithm can jointly make the cut layer selection decision in a large timescale and device clustering and radio spectrum allocation decisions in a small timescale. Extensive simulation results on non-independent and identically distributed data demonstrate that the proposed solutions can greatly reduce the training latency as compared with the existing SL benchmarks, while adapting to network dynamics.

This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which combines the merits of sampling-based planning, optimization-based planning, and trajectory splitting to quickly plan for a collision-free and dynamically-feasible motion plan. When generating a plan, the RRT* layer quickly samples a semi-optimal path and sets it as an initial reference path. Then, the sOpt layer splits the reference path and performs optimization on each segment. It then splits the new trajectory again and repeats the process until the whole trajectory converges. We also propose to reduce the number of segments before convergence with the aim of further reducing computation time. Simulation results show that RRT*-sOpt benefits from the hybrid structure with trajectory splitting and performs robustly in various robot platforms and scenarios.

The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety performance of legged robots, existing solutions on observed and inferred risk can be incomplete and sampling inefficient. Some formal verification methods suffer from the model precision and other surrogate assumptions. In this paper, we propose a scenario sampling based testing framework that characterizes the overall safety performance of a legged robot by specifying (i) where (in terms of a set of states) the robot is potentially safe, and (ii) how safe the robot is within the specified set. The framework can also help certify the commercial deployment of the legged robot in real-world environment along with human and compare safety performance among legged robots with different mechanical structures and dynamic properties. The proposed framework is further deployed to evaluate a group of state-of-the-art legged robot locomotion controllers from various model-based, deep neural network involved, and reinforcement learning based methods in the literature. Among a series of intended work domains of the studied legged robots (e.g. tracking speed on sloped surface, with abrupt changes on demanded velocity, and against adversarial push-over disturbances), we show that the method can adequately capture the overall safety characterization and the subtle performance insights. Many of the observed safety outcomes, to the best of our knowledge, have never been reported by the existing work in the legged robot literature.

The increase and rapid growth of data produced by scientific instruments, the Internet of Things (IoT), and social media is causing data transfer performance and resource consumption to garner much attention in the research community. The network infrastructure and end systems that enable this extensive data movement use a substantial amount of electricity, measured in terawatt-hours per year. Managing energy consumption within the core networking infrastructure is an active research area, but there is a limited amount of work on reducing power consumption at the end systems during active data transfers. This paper presents a novel two-phase dynamic throughput and energy optimization model that utilizes an offline decision-search-tree based clustering technique to encapsulate and categorize historical data transfer log information and an online search optimization algorithm to find the best application and kernel layer parameter combination to maximize the achieved data transfer throughput while minimizing the energy consumption. Our model also incorporates an ensemble method to reduce aleatoric uncertainty in finding optimal application and kernel layer parameters during the offline analysis phase. The experimental evaluation results show that our decision-tree based model outperforms the state-of-the-art solutions in this area by achieving 117% higher throughput on average and also consuming 19% less energy at the end systems during active data transfers.

Most existing works of polar codes focus on the analysis of block error probability. However, in many scenarios, bit error probability is also important for evaluating the performance of channel codes. In this paper, we establish a new framework to analyze the bit error probability of polar codes. Specifically, by revisiting the error event of bit-channel, we first introduce the conditional bit error probability as a metric to evaluate the reliability of bit-channel for both systematic and non-systematic polar codes. Guided by the concept of polar subcode, we then derive an upper bound on the conditional bit error probability of each bit-channel, and accordingly, an upper bound on the bit error probability of polar codes. Based on these, two types of construction metrics aiming at minimizing the bit error probability of polar codes are proposed, which are of linear computational complexity and explicit forms. Simulation results show that the polar codes constructed by the proposed methods can outperform those constructed by the conventional methods.