Hongbiao Zhu

Hongbiao Zhu, Qiong Wu, Qiang Fan et al.

Multi-input multi-out and non-orthogonal multiple access (MIMO-NOMA) internet-of-things (IoT) systems can improve channel capacity and spectrum efficiency distinctly to support the real-time applications. Age of information (AoI) is an important metric for real-time application, but there is no literature have minimized AoI of the MIMO-NOMA IoT system, which motivates us to conduct this work. In MIMO-NOMA IoT system, the base station (BS) determines the sample collection requirements and allocates the transmission power for each IoT device. Each device determines whether to sample data according to the sample collection requirements and adopts the allocated power to transmit the sampled data to the BS over MIMO-NOMA channel. Afterwards, the BS employs successive interference cancelation (SIC) technique to decode the signal of the data transmitted by each device. The sample collection requirements and power allocation would affect AoI and energy consumption of the system. It is critical to determine the optimal policy including sample collection requirements and power allocation to minimize the AoI and energy consumption of MIMO-NOMA IoT system, where the transmission rate is not a constant in the SIC process and the noise is stochastic in the MIMO-NOMA channel. In this paper, we propose the optimal power allocation to minimize the AoI and energy consumption of MIMO- NOMA IoT system based on deep reinforcement learning (DRL). Extensive simulations are carried out to demonstrate the superiority of the optimal power allocation.

Chao Cao, Hongbiao Zhu, Fan Yang et al.

Autonomous Exploration Development Environment is an open-source repository released to facilitate the development of high-level planning algorithms and integration of complete autonomous navigation systems. The repository contains representative simulation environment models, fundamental navigation modules, e.g., local planner, terrain traversability analysis, waypoint following, and visualization tools. Together with two of our high-level planner releases -- TARE planner for exploration and FAR planner for route planning, we detail usage of the three open-source repositories and share experiences in the integration of autonomous navigation systems. We use DARPA Subterranean Challenge as a use case where the repositories together form the main navigation system of the CMU-OSU Team. In the end, we discuss a few potential use cases in extended applications.

Fan Yang, Chao Cao, Hongbiao Zhu et al.

The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly and constantly, to account for the new observations. In this paper, we present a visibility graph-based planning framework capable of dealing with navigation tasks in both known and unknown environments. The planner employs a polygonal representation of the environment and constructs the representation by extracting edge points around obstacles to form enclosed polygons. With that, the method dynamically updates a global visibility graph using a two-layered data structure, expanding the visibility edges along with the navigation and removing edges that become occluded by newly observed obstacles. When navigating in unknown environments, the method is attemptable in discovering a way to the goal by picking up the environment layout on the fly, updating the visibility graph, and fast re-planning corresponding to the newly observed environment. We evaluate the method in simulated and real-world settings. The method shows the capability to attempt and navigate through unknown environments, reducing the travel time by up to 12-47% from search-based methods: A*, D* Lite, and more than 24-35% than sampling-based methods: RRT*, BIT*, and SPARS.