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A leader-follower system is developed for cooperative transportation. To the best of our knowledge, this is the first work that inter-UAV communication is not required and the reference trajectory of the payload can be modified in real time, so that it can be applied to a dynamically changing environment. To track the modified reference trajectory in real time under the communication-free condition, the leader-follower system is considered as a nonholonomic system in which a controller is developed for the leader to achieve asymptotic tracking of the payload. To eliminate the need to install force sensors, UKFs (unscented Kalman filters) are developed to estimate the forces applied by the leader and follower. Stability analysis is conducted to prove the tracking error of the closed-loop system. Simulation results demonstrate the good performance of the tracking controller. The experiments show the controllers of the leader and the follower can work in the real world, but the tracking errors were affected by the disturbance of airflow in a restricted space.

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We consider in this paper a new intelligent reflecting surface (IRS)-aided LEO satellite communication system, by utilizing the controllable phase shifts of massive passive reflecting elements to achieve flexible beamforming, which copes with the time-varying channel between the high-mobility satellite (SAT) and ground node (GN) cost-effectively. In particular, we propose a new architecture for IRS-aided LEO satellite communication where IRSs are deployed at both sides of the SAT and GN, and study their cooperative passive beamforming (CPB) design over line-of-sight (LoS)-dominant single-reflection and double-reflection channels. Specifically, we jointly optimize the active transmit/receive beamforming at the SAT/GN as well as the CPB at two-sided IRSs to maximize the overall channel gain from the SAT to each GN. Interestingly, we show that under LoS channel conditions, the high-dimensional SAT-GN channel can be decomposed into the outer product of two low-dimensional vectors. By exploiting the decomposed SAT-GN channel, we decouple the original beamforming optimization problem into two simpler subproblems corresponding to the SAT and GN sides, respectively, which are both solved in closed-form. Furthermore, we propose an efficient transmission protocol to conduct channel estimation and beam tracking, which only requires independent processing of the SAT and GN in a distributed manner, thus substantially reducing the implementation complexity. Simulation results validate the performance advantages of the proposed IRS-aided LEO satellite communication system with two-sided cooperative IRSs, as compared to various baseline schemes such as the conventional reflect-array and one-sided IRS.

With the fast development of modern deep learning techniques, the study of dynamic systems and neural networks is increasingly benefiting each other in a lot of different ways. Since uncertainties often arise in real world observations, SDEs (stochastic differential equations) come to play an important role. To be more specific, in this paper, we use a collection of SDEs equipped with neural networks to predict long-term trend of noisy time series which has big jump properties and high probability distribution shift. Our contributions are, first, we explored SDEs driven by $\alpha$-stable L\'evy motion to model the time series data and solved the problem through neural network approximation. Second, we theoretically proved the convergence of the model and obtained the convergence rate. Finally, we illustrated our method by applying it to stock marketing time series prediction and found the convergence order of error.

We study distributed algorithms for finding a Nash equilibrium (NE) in a class of non-cooperative convex games under partial information. Specifically, each agent has access only to its own smooth local cost function and can receive information from its neighbors in a time-varying directed communication network. To this end, we propose a distributed gradient play algorithm to compute a NE by utilizing local information exchange among the players. In this algorithm, every agent performs a gradient step to minimize its own cost function while sharing and retrieving information locally among its neighbors. The existing methods impose strong assumptions such as balancedness of the mixing matrices and global knowledge of the network communication structure, including Perron-Frobenius eigenvector of the adjacency matrix and other graph connectivity constants. In contrast, our approach relies only on a reasonable and widely-used assumption of row-stochasticity of the mixing matrices. We analyze the algorithm for time-varying directed graphs and prove its convergence to the NE, when the agents' cost functions are strongly convex and have Lipschitz continuous gradients. Numerical simulations are performed for a Nash-Cournot game to illustrate the efficacy of the proposed algorithm.

This paper proposes a novel broadband transmission technology, termed delay alignment modulation (DAM), which enables the low-complexity equalization-free single-carrier communication, yet without suffering from inter-symbol interference (ISI). The key idea of DAM is to deliberately introduce appropriate delays for information-bearing symbols at the transmitter side, so that after propagating over the time-dispersive channel, all multi-path signal components will arrive at the receiver simultaneously and constructively. We first show that by applying DAM for the basic multiple-input single-output (MISO) communication system, an ISI-free additive white Gaussian noise (AWGN) system can be obtained with the simple zero-forcing (ZF) beamforming. Furthermore, the more general DAM scheme is studied with the ISI-maximal-ratio transmission (MRT) and the ISI-minimum mean-square error (MMSE) beamforming. Simulation results are provided to show that when the channel is sparse and/or the antenna dimension is large, DAM not only resolves the notorious practical issues suffered by orthogonal frequency-division multiplexing (OFDM) such as high peak-to-average-power ratio (PAPR), severe out-of-band (OOB) emission, and vulnerability to carrier frequency offset (CFO), with low complexity, but also achieves higher spectral efficiency due to the saving of guard interval overhead.

In this paper, a cyclic-prefixed single-carrier (CPSC) transmission scheme with phase shift keying (PSK) signaling is presented for broadband wireless communications systems empowered by a reconfigurable intelligent surface (RIS). In the proposed CPSC-RIS, the RIS is configured according to the transmitted PSK symbols such that different cyclically delayed versions of the incident signal are created by the RIS to achieve cyclic delay diversity. A practical and efficient channel estimator is developed for CPSC-RIS and the mean square error of the channel estimation is expressed in closed-form. We analyze the bit error rate (BER) performance of CPSC-RIS over frequency-selective Nakagami-$m$ fading channels. An upper bound on the BER is derived by assuming the maximum-likelihood detection. Furthermore, by resorting to the concept of index modulation (IM), we propose an extension of CPSC-RIS, termed CPSC-RIS-IM, which enhances the spectral efficiency. In addition to conventional constellation information of PSK symbols, CPSC-RIS-IM uses the full permutations of cyclic delays caused by the RIS to carry information. A sub-optimal receiver is designed for CPSC-RIS-IM to aim at low computational complexity. Our simulation results in terms of BER corroborate the performance analysis and the superiority of CPSC-RIS(-IM) over the conventional CPSC without an RIS and orthogonal frequency division multiplexing with an RIS.

For the Internet-of-unmanned aerial vehicles (UAVs) some challenges in broadcasting and from new points of view are explored. In this paper, first, we investigate a single broadcast transceiver. From a control of noisy-channel viewpoint, we consider: (\textit{i}) Alice sends $\mathcal{X}$ to Bob as more \textcolor{black}{efficient} as possible while she wishes Bob not to get access to the private message $\mathcal{S}$ regarding the correlation between $\mathcal{S}$ and $\mathcal{X}$ $-$ i.e., Alice purposefully sends a \textit{turbulent-flow} of the information to Bob; and (\textit{ii}) where $\big (\Theta_1;\Theta_2 \big)$ is the control-action-pair which actualise a \textit{pursuit-Evasion}. We consider \textit{dissipativity} in our system due to the memory effect relating to the previous states. We thus propose a federated-learning based \textit{Blahut-Arimoto} algorithm while a 2-D \textit{dissipativity}-theoretic continuous-Mean-Field-Game (MFG) is proposed with regard to (w.r.t.) a joint probability-distribution-function (PDF) of the population distribution $-$ relating to a continuous-control-law. We also analyse what if Alice is owed to multiple Bobs in a multi-user scenario which we apply a bankruptcy based $3-$level nested game for.

Recently, there has been growing research on developing interference-aware routing (IAR) protocols for supporting multiple concurrent transmission in next-generation wireless communication systems. The existing IAR protocols do not consider node cooperation while establishing the routes because motivating the nodes to cooperate and modeling that cooperation is not a trivial task. In addition, the information about the cooperative behavior of a node is not directly visible to neighboring nodes. Therefore, in this paper, we develop a new routing method in which the nodes' cooperation information is utilized to improve the performance of edge computing-enabled 5G networks. The proposed metric is a function of created and received interference in the network. The received interference term ensures that the Signal to Interference plus Noise Ratio (SINR) at the route remains above the threshold value, while the created interference term ensures that those nodes are selected to forward the packet that creates low interference for other nodes. The results show that the proposed solution improves ad hoc networks' performance compared to conventional routing protocols in terms of high network throughput and low outage probability.

Zeroth-order optimization methods are developed to overcome the practical hurdle of having knowledge of explicit derivatives. Instead, these schemes work with merely access to noisy functions evaluations. The predominant approach is to mimic first-order methods by means of some gradient estimator. The theoretical limitations are well-understood, yet, as most of these methods rely on finite-differencing for shrinking differences, numerical cancellation can be catastrophic. The numerical community developed an efficient method to overcome this by passing to the complex domain. This approach has been recently adopted by the optimization community and in this work we analyze the practically relevant setting of dealing with computational noise. To exemplify the possibilities we focus on the strongly-convex optimization setting and provide a variety of non-asymptotic results, corroborated by numerical experiments, and end with local non-convex optimization.

Cellular networks are expected to be the main communication infrastructure to support the expanding applications of Unmanned Aerial Vehicles (UAVs). As these networks are deployed to serve ground User Equipment (UES), several issues need to be addressed to enhance cellular UAVs'services.In this paper, we propose a realistic communication model on the downlink,and we show that the Quality of Service (QoS)for the users is affected by the number of interfering BSs and the impact they cause. The joint problem of sub-carrier and power allocation is therefore addressed. Given its complexity, which is known to be NP-hard, we introduce a solution based on game theory. First, we argue that separating between UAVs and UEs in terms of the assigned sub-carriers reduces the interference impact on the users. This is materialized through a matching game. Moreover, in order to boost the partition, we propose a coalitional game that considers the outcome of the first one and enables users to change their coalitions and enhance their QoS. Furthermore, a power optimization solution is introduced, which is considered in the two games. Performance evaluations are conducted, and the obtained results demonstrate the effectiveness of the propositions.

In this work, we consider the distributed optimization of non-smooth convex functions using a network of computing units. We investigate this problem under two regularity assumptions: (1) the Lipschitz continuity of the global objective function, and (2) the Lipschitz continuity of local individual functions. Under the local regularity assumption, we provide the first optimal first-order decentralized algorithm called multi-step primal-dual (MSPD) and its corresponding optimal convergence rate. A notable aspect of this result is that, for non-smooth functions, while the dominant term of the error is in $O(1/\sqrt{t})$, the structure of the communication network only impacts a second-order term in $O(1/t)$, where $t$ is time. In other words, the error due to limits in communication resources decreases at a fast rate even in the case of non-strongly-convex objective functions. Under the global regularity assumption, we provide a simple yet efficient algorithm called distributed randomized smoothing (DRS) based on a local smoothing of the objective function, and show that DRS is within a $d^{1/4}$ multiplicative factor of the optimal convergence rate, where $d$ is the underlying dimension.

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