Henk Wymeersch

Musa Furkan Keskin, Muralikrishnan Srinivasan, Onur Gunlu et al.

Integrated sensing and communication (ISAC) will be central to 6G-enabled transportation, providing both seamless connectivity and high-precision sensing. However, this tight integration exposes attack points not encountered in pure sensing and communication systems. In this article, we identify unique ISAC-induced security challenges and opportunities in three interrelated domains: cyber-physical (where manipulation of sensors and actuators can mislead perception and control), physical-layer (where over-the-air signals are vulnerable to spoofing and jamming) and protocol (where complex cryptographic protocols cannot detect lower-layer attacks). Building on these insights, we put forward a multi-domain security vision for 6G transportation and propose an integrated security framework that unifies protection across domains by leveraging existing ISAC measurements for lightweight cross-checks.

Bernhard Etzlinger, Florian Meyer, Franz Hlawatsch et al.

Cooperative localization in agent networks based on interagent time-of-flight measurements is closely related to synchronization. To leverage this relation, we propose a Bayesian factor graph framework for cooperative simultaneous localization and synchronization (CoSLAS). This framework is suited to mobile agents and time-varying local clock parameters. Building on the CoSLAS factor graph, we develop a distributed (decentralized) belief propagation algorithm for CoSLAS in the practically important case of an affine clock model and asymmetric time stamping. Our algorithm allows for real-time operation and is suitable for a time-varying network connectivity. To achieve high accuracy at reduced complexity and communication cost, the algorithm combines particle implementations with parametric message representations and takes advantage of a conditional independence property. Simulation results demonstrate the good performance of the proposed algorithm in a challenging scenario with time-varying network connectivity.

Guangjin Pan, Hui Chen, Hei Victor Cheng et al.

Wireless localization is a fundamental capability of sixth-generation (6G) networks. Conventional model-based methods require accurate modeling of the propagation environment and degrade in complex multipath and non-line-of-sight scenarios, while learning-based methods couple model parameters tightly to the training scene, requiring costly retraining whenever the base station (BS) configuration or propagation environment changes. In this paper, we propose RA-LWLM, a retrieval-augmented in-context localization framework that achieves training-free cross-scene adaptation by externalizing scene-specific information into a per-scene fingerprint database rather than encoding it in model weights. The framework consists of three components: a frozen wireless foundation model (FM) encoder that maps raw channel state information into a scene-agnostic representation; a retrieval module that selects the most informative references from the per-scene database via similarity search in the representation space; and a transformer-based in-context learning (ICL) module that fuses the query with the retrieved references to predict the user equipment (UE) position. To accommodate varying retrieval quality and propagation complexity across queries, the ICL module adopts a mixture-of-experts design in which experts specialize in different context sizes and are softly combined by a learnable selector. Extensive ray-tracing-based experiments across heterogeneous scenes with diverse BS configurations show that RA-LWLM achieves nearly identical accuracy on seen and unseen scenes without any per-scene retraining, substantially outperforming end-to-end and FM-based baselines. These results validate the proposed retrieval-augmented in-context paradigm as a scalable solution for cross-scene localization in 6G networks.

Erik Steinmetz, Matthias Wildemeersch, Tony Q. S. Quek et al.

Vehicular networks allow vehicles to share information and are expected to be an integral part in future intelligent transportation system (ITS). In order to guide and validate the design process, analytical expressions of key performance metrics such as packet reception probabilities and throughput are necessary, in particular for accident-prone scenarios such as intersections. In this paper, we analyze the impact of interference in an intersection scenario with two perpendicular roads using tools from stochastic geometry. We present a general procedure to analytically determine the packet reception probability and throughput of a selected link, taking into account the geographical clustering of vehicles close to the intersection. We consider both Aloha and CSMA MAC protocols, and show how the procedure can be used to model different propagation environments of practical relevance. We show how different path loss functions and fading distributions can be incorporated in the analysis to model propagation conditions typical to both rural and urban intersections. Our results indicate that the procedure is general and flexible to deal with a variety of scenarios. Thus, it can serve as a useful design tool for communication system engineers, complementing simulations and experiments, to obtain quick insights into the network performance.

Markus Fröhle, Christopher Lindberg, Karl Granström et al.

In a typical multitarget tracking (MTT) scenario, the sensor state is either assumed known, or tracking is performed in the sensor's (relative) coordinate frame. This assumption does not hold when the sensor, e.g., an automotive radar, is mounted on a vehicle, and the target state should be represented in a global (absolute) coordinate frame. Then it is important to consider the uncertain location of the vehicle on which the sensor is mounted for MTT. In this paper, we present a multisensor low complexity Poisson multi-Bernoulli MTT filter, which jointly tracks the uncertain vehicle state and target states. Measurements collected by different sensors mounted on multiple vehicles with varying location uncertainty are incorporated sequentially based on the arrival of new sensor measurements. In doing so, targets observed from a sensor mounted on a well-localized vehicle reduce the state uncertainty of other poorly localized vehicles, provided that a common non-empty subset of targets is observed. A low complexity filter is obtained by approximations of the joint sensor-feature state density minimizing the Kullback-Leibler divergence (KLD). Results from synthetic as well as experimental measurement data, collected in a vehicle driving scenario, demonstrate the performance benefits of joint vehicle-target state tracking.

Vukan Ninkovic, Dejan Vukobratovic, Christian Häger et al.

Most of today's communication systems are designed to target reliable message recovery after receiving the entire encoded message (codeword). However, in many practical scenarios, the transmission process may be interrupted before receiving the complete codeword. This paper proposes a novel rateless autoencoder (AE)-based code design suitable for decoding the transmitted message before the noisy codeword is fully received. Using particular dropout strategies applied during the training process, rateless AE codes allow to trade off between decoding delay and reliability, providing a graceful improvement of the latter with each additionally received codeword symbol. The proposed rateless AEs significantly outperform the conventional AE designs for scenarios where it is desirable to trade off reliability for lower decoding delay.

Christopher Lindberg, Julien M. Hendrickx, Henk Wymeersch

Belief propagation (BP) is a powerful tool to solve distributed inference problems, though it is limited by short cycles in the corresponding factor graph. Such cycles may lead to incorrect solutions or oscillatory behavior. Only for certain types of problems are convergence properties understood. We extend this knowledge by investigating the use of reweighted BP for distributed likelihood fusion problems, which are characterized by equality constraints along possibly short cycles. Through a linear formulation of BP, we are able to analytically derive convergence conditions for certain types of graphs and optimize the convergence speed. We compare with standard belief consensus and observe significantly faster convergence.

Muralikrishnan Srinivasan, Linda Senigagliesi, Hui Chen et al.

We discuss the use of angle of arrival (AoA) as an authentication measure in analog array multiple-input multiple-output (MIMO) systems. A base station equipped with an analog array authenticates users based on the AoA estimated from certified pilot transmissions, while active attackers manipulate their transmitted signals to mount impersonation attacks. We study several attacks of increasing intensity (captured through the availability of side information at the attackers) and assess the performance of AoA-based authentication using one-class classifiers. Our results show that some attack techniques with knowledge of the combiners at the verifier are effective in falsifying the AoA and compromising the security of the considered type of physical layer authentication.

Chi-Jui Sung, Fan-Hao Lin, Tzu-Hao Huang et al.

Sixth-generation (6G) networks are envisioned to achieve full-band cognition by jointly utilizing spectrum resources from Frequency Range 1 (FR1) to Frequency Range 3 (FR3, 7-24 GHz). Realizing this vision faces two challenges. First, physicsbased ray tracing (RT), the standard tool for network planning and coverage modeling, becomes computationally prohibitive for multi-band and multi-directional analysis over large areas. Second, current 5G systems rely on inter-frequency measurement gaps for carrier aggregation and beam management, which reduce throughput, increase latency, and scale poorly as bands and beams proliferate. These limitations motivate a datadriven approach to infer high-frequency characteristics from low-frequency observations. This work proposes CommUNext, a unified deep learning framework for cross-band, multi-directional signal strength (SS) prediction. The framework leverages lowfrequency coverage data and crowd-aided partial measurements at the target band to generate high-fidelity FR3 predictions. Two complementary architectures are introduced: Full CommUNext, which substitutes costly RT simulations for large-scale offline modeling, and Partial CommUNext, which reconstructs incomplete low-frequency maps to mitigate measurement gaps in real-time operation. Experimental results show that CommUNext delivers accurate and robust high-frequency SS prediction even with sparse supervision, substantially reducing both simulation and measurement overhead.

Zheng Xing, Weibing Zhao, Guanghui Zhang et al.

Traditional radio map construction methods mandate labor-intensive data collection and precise location labeling. To address these limitations, we propose a novel survey-free approach for radio map construction that relies solely on unlabeled Received Signal Strength (RSS) measurements, thereby obviating the need for manual site surveys or auxiliary Inertial Measurement Units (IMUs). The key idea involves embedding multiple unlabeled RSS sequences into a known indoor layout, specifically targeting corridor-guided environments with a dominant unidirectional pedestrian flow. However, aligning the embedded coordinates with the RSS collection locations remains challenging due to the random fluctuations inherent in RSS data. To tackle this, we introduce a Hidden Markov Model (HMM)- based Coarse-to-Fine Inference (HCFI) framework. At the coarse level, we employ an HMM-based region label inference algorithm to partition RSS sequences and align the RSS segments with specific physical regions using graph-based inference. At the fine level, we develop an HMM-based location label inference technique to estimate RSS collection coordinates by leveraging RSS propagation principles while incorporating sequential spatio-temporal mobility probability. Empirical results from an office environment demonstrate that the proposed method achieves a radio map construction Mean Absolute Error (MAE) of 8.96 dB. Furthermore, based on the estimated radio map, k-Nearest Neighbor (KNN) localization yields an average positioning error of approximately 3.33 meters, offering a highly viable, survey-free solution for radio map construction under sequential topological assumptions.

Juliano Pinto, Georg Hess, William Ljungbergh et al.

Multitarget Tracking (MTT) is the problem of tracking the states of an unknown number of objects using noisy measurements, with important applications to autonomous driving, surveillance, robotics, and others. In the model-based Bayesian setting, there are conjugate priors that enable us to express the multi-object posterior in closed form, which could theoretically provide Bayes-optimal estimates. However, the posterior involves a super-exponential growth of the number of hypotheses over time, forcing state-of-the-art methods to resort to approximations for remaining tractable, which can impact their performance in complex scenarios. Model-free methods based on deep-learning provide an attractive alternative, as they can, in principle, learn the optimal filter from data, but to the best of our knowledge were never compared to current state-of-the-art Bayesian filters, specially not in contexts where accurate models are available. In this paper, we propose a high-performing deep-learning method for MTT based on the Transformer architecture and compare it to two state-of-the-art Bayesian filters, in a setting where we assume the correct model is provided. Although this gives an edge to the model-based filters, it also allows us to generate unlimited training data. We show that the proposed model outperforms state-of-the-art Bayesian filters in complex scenarios, while matching their performance in simpler cases, which validates the applicability of deep-learning also in the model-based regime. The code for all our implementations is made available at https://github.com/JulianoLagana/MT3 .

Mahmoud Raeisi, Ayoub Ammar Boudjelal, Henk Wymeersch et al.

The shift toward sixth-generation (6G) wireless communications demands transceiver architectures that simultaneously support high-data-rate communications, pervasive sensing, and sub-meter-level localization. Beyond these performance targets, 6G systems are also expected to align with long-term societal goals, including sustainability and inclusiveness. Conventional radio designs, however, remain heavily reliant on digital baseband processing, whose cost, power consumption, and computational complexity scale unfavorably with increasing array size and carrier frequency, making them poorly aligned with these emerging requirements. Beyond-diagonal reconfigurable intelligent surfaces (BD-RISs) introduce a new paradigm by enabling direct manipulation of electromagnetic waves in the analog domain. This article presents BD-RIS as a wave-domain analog processing unit embedded within the transceiver aperture. By migrating linear signal processing functions from the digital baseband to the wave domain, BD-RISs significantly reduce computational load and energy consumption, enabling scalable and sustainable operation for extra-large antenna array systems. Owing to their ability to jointly provide high operational flexibility, modularity, and energy-efficient analog processing, transceiver-integrated BD-RISs offer a compelling architectural trade-off and emerge as a strong candidate for next-generation wireless transceivers.

Baptiste Chatelier, José Miguel Mateos-Ramos, Vincent Corlay et al.

Direction of arrival (DoA) estimation is a common sensing problem in radar, sonar, audio, and wireless communication systems. It has gained renewed importance with the advent of the integrated sensing and communication paradigm. To fully exploit the potential of such sensing systems, it is crucial to take into account potential hardware impairments that can negatively impact the obtained performance. This study introduces a joint DoA estimation and hardware impairment learning scheme following a model-based approach. Specifically, a differentiable version of the multiple signal classification (MUSIC) algorithm is derived, allowing efficient learning of the considered impairments. The proposed approach supports both supervised and unsupervised learning strategies, showcasing its practical potential. Simulation results indicate that the proposed method successfully learns significant inaccuracies in both antenna locations and complex gains. Additionally, the proposed method outperforms the classical MUSIC algorithm in the DoA estimation task.

Guangjin Pan, Kaixuan Huang, Hui Chen et al.

Accurate and robust localization is a critical enabler for emerging 5G and 6G applications, including autonomous driving, extended reality (XR), and smart manufacturing. While data-driven approaches have shown promise, most existing models require large amounts of labeled data and struggle to generalize across deployment scenarios and wireless configurations. To address these limitations, we propose a foundation-model-based solution tailored for wireless localization. We first analyze how different self-supervised learning (SSL) tasks acquire general-purpose and task-specific semantic features based on information bottleneck (IB) theory. Building on this foundation, we design a pretraining methodology for the proposed Large Wireless Localization Model (LWLM). Specifically, we propose an SSL framework that jointly optimizes three complementary objectives: (i) spatial-frequency masked channel modeling (SF-MCM), (ii) domain-transformation invariance (DTI), and (iii) position-invariant contrastive learning (PICL). These objectives jointly capture the underlying semantics of wireless channel from multiple perspectives. We further design lightweight decoders for key downstream tasks, including time-of-arrival (ToA) estimation, angle-of-arrival (AoA) estimation, single base station (BS) localization, and multiple BS localization. Comprehensive experimental results confirm that LWLM consistently surpasses both model-based and supervised learning baselines across all localization tasks. In particular, LWLM achieves 26.0%--87.5% improvement over transformer models without pretraining, and exhibits strong generalization under label-limited fine-tuning and unseen BS configurations, confirming its potential as a foundation model for wireless localization.

Juliano Pinto, Georg Hess, Yuxuan Xia et al.

Multi-object tracking (MOT) is the task of estimating the state trajectories of an unknown and time-varying number of objects over a certain time window. Several algorithms have been proposed to tackle the multi-object smoothing task, where object detections can be conditioned on all the measurements in the time window. However, the best-performing methods suffer from intractable computational complexity and require approximations, performing suboptimally in complex settings. Deep learning based algorithms are a possible venue for tackling this issue but have not been applied extensively in settings where accurate multi-object models are available and measurements are low-dimensional. We propose a novel DL architecture specifically tailored for this setting that decouples the data association task from the smoothing task. We compare the performance of the proposed smoother to the state-of-the-art in different tasks of varying difficulty and provide, to the best of our knowledge, the first comparison between traditional Bayesian trackers and DL trackers in the smoothing problem setting.

Guangjin Pan, Zhuojun Tian, Mehdi Bennis et al.

Wireless agentic systems enable agents to autonomously perceive, reason, and act. However, existing works neglect the tight coupling between sensing and control in closed-loop integrated sensing and communication (ISAC) systems. In this paper, we propose an active inference (AIF)-driven wireless agentic system for closed-loop ISAC, which jointly optimizes control and sensing resource allocation via backward--forward message passing on a factor graph. The AIF agent maintains a generative model as a digital twin by integrating a localization model for uncertainty-aware state inference and a localization channel knowledge map (CKM) for approximating observation quality during planning. Simulation results demonstrate that the AIF-enabled agent adaptively allocates sensing resources based on spatially varying channel conditions, achieving superior balance among tracking accuracy, control effort, and sensing resource consumption over baseline strategies.

Guangjin Pan, Zhixing Li, Ayça Özçelikkale et al.

In closed-loop distributed multi-sensor integrated sensing and communication (ISAC) systems, performance often hinges on transmitting high-dimensional sensor observations over rate-limited networks. In this paper, we first present a general framework for rate-limited closed-loop distributed ISAC systems, and then propose an autoencoder-based observation compression method to overcome the constraints imposed by limited transmission capacity. Building on this framework, we conduct a case study using a closed-loop linear quadratic regulator (LQR) system to analyze how the interplay among observation, compression, and state dimensions affects reconstruction accuracy, state estimation error, and control performance. In multi-sensor scenarios, our results further show that optimal resource allocation initially prioritizes low-noise sensors until the compression becomes lossless, after which resources are reallocated to high-noise sensors.

George Stamatelis, Hui Chen, Henk Wymeersch et al.

This paper studies user localization aided by a Reconfigurable Intelligent Surface (RIS). A feedback link from the Base Station (BS) to the user is adopted to enable dynamic power control of the user pilot transmissions in the uplink. A novel multi-agent algorithm for the joint control of the RIS phase configuration and the user transmit power is presented, which is based on a hybrid approach integrating NeuroEvolution (NE) and supervised learning. The proposed scheme requires only single-bit feedback messages for the uplink power control, supports RIS elements with discrete responses, and is numerically shown to outperform fingerprinting, deep reinforcement learning baselines and backpropagation-based position estimators.

Baptiste Chatelier, Vincent Corlay, Musa Furkan Keskin et al.

The increasing deployment of large antenna arrays at base stations has significantly improved the spatial resolution and localization accuracy of radio-localization methods. However, traditional signal processing techniques struggle in complex radio environments, particularly in scenarios dominated by non line of sight (NLoS) propagation paths, resulting in degraded localization accuracy. Recent developments in machine learning have facilitated the development of machine learning-assisted localization techniques, enhancing localization accuracy in complex radio environments. However, these methods often involve substantial computational complexity during both the training and inference phases. This work extends the well-established fingerprinting-based localization framework by simultaneously reducing its memory requirements and improving its accuracy. Specifically, a model-based neural network is used to learn the location-to-channel mapping, and then serves as a generative neural channel model. This generative model augments the fingerprinting comparison dictionary while reducing the memory requirements. The proposed method outperforms fingerprinting baselines by achieving sub-wavelength localization accuracy, even in complex static NLoS environments. Remarkably, it offers an improvement by several orders of magnitude in localization accuracy, while simultaneously reducing memory requirements by an order of magnitude compared to classical fingerprinting methods.

Hyowon Kim, Angel F. García-Fernández, Yu Ge et al.

Belief propagation (BP) is a useful probabilistic inference algorithm for efficiently computing approximate marginal probability densities of random variables. However, in its standard form, BP is only applicable to the vector-type random variables with a fixed and known number of vector elements, while certain applications rely on RFSs with an unknown number of vector elements. In this paper, we develop BP rules for factor graphs defined on sequences of RFSs where each RFS has an unknown number of elements, with the intention of deriving novel inference methods for RFSs. Furthermore, we show that vector-type BP is a special case of set-type BP, where each RFS follows the Bernoulli process. To demonstrate the validity of developed set-type BP, we apply it to the PMB filter for SLAM, which naturally leads to new set-type BP-mapping, SLAM, multi-target tracking, and simultaneous localization and tracking filters. Finally, we explore the relationships between the vector-type BP and the proposed set-type BP PMB-SLAM implementations and show a performance gain of the proposed set-type BP PMB-SLAM filter in comparison with the vector-type BP-SLAM filter.

Juliano Pinto, Georg Hess, William Ljungbergh et al.

Multi-object tracking (MOT) is the problem of tracking the state of an unknown and time-varying number of objects using noisy measurements, with important applications such as autonomous driving, tracking animal behavior, defense systems, and others. In recent years, deep learning (DL) has been increasingly used in MOT for improving tracking performance, but mostly in settings where the measurements are high-dimensional and there are no available models of the measurement likelihood and the object dynamics. The model-based setting instead has not attracted as much attention, and it is still unclear if DL methods can outperform traditional model-based Bayesian methods, which are the state of the art (SOTA) in this context. In this paper, we propose a Transformer-based DL tracker and evaluate its performance in the model-based setting, comparing it to SOTA model-based Bayesian methods in a variety of different tasks. Our results show that the proposed DL method can match the performance of the model-based methods in simple tasks, while outperforming them when the task gets more complicated, either due to an increase in the data association complexity, or to stronger nonlinearities of the models of the environment.

Yu Ge, Yibo Wu, Fan Jiang et al.

5G millimeter wave (mmWave) signals have inherent geometric connections to the propagation channel and the propagation environment. Thus, they can be used to jointly localize the receiver and map the propagation environment, which is termed as simultaneous localization and mapping (SLAM). One of the most important tasks in the 5G SLAM is to deal with the nonlinearity of the measurement model. To solve this problem, existing 5G SLAM approaches rely on sigma-point or extended Kalman filters, linearizing the measurement function with respect to the prior probability density function (PDF). In this paper, we study the linearization of the measurement function with respect to the posterior PDF, and implement the iterated posterior linearization filter into the Poisson multi-Bernoulli SLAM filter. Simulation results demonstrate the accuracy and precision improvements of the resulting SLAM filter.

Jiguang He, Fan Jiang, Kamran Keykhosravi et al.

Upcoming beyond fifth generation (5G) communications systems aim at further enhancing key performance indicators and fully supporting brand new use cases by embracing emerging techniques, e.g., reconfigurable intelligent surface (RIS), integrated communication, localization, and sensing, and mmWave/THz communications. The wireless intelligence empowered by state-of-the-art artificial intelligence techniques has been widely considered at the transceivers, and now the paradigm is deemed to be shifted to the smart control of radio propagation environment by virtue of RISs. In this article, we argue that to harness the full potential of RISs, localization and communication must be tightly coupled. This is in sharp contrast to 5G and earlier generations, where localization was a minor additional service. To support this, we first introduce the fundamentals of RIS mmWave channel modeling, followed by RIS channel state information acquisition and link establishment. Then, we deal with the connection between localization and communications, from a separate and joint perspective.

Jiguang He, Henk Wymeersch, Marco Di Renzo et al.

Inspired by the remarkable learning and prediction performance of deep neural networks (DNNs), we apply one special type of DNN framework, known as model-driven deep unfolding neural network, to reconfigurable intelligent surface (RIS)-aided millimeter wave (mmWave) single-input multiple-output (SIMO) systems. We focus on uplink cascaded channel estimation, where known and fixed base station combining and RIS phase control matrices are considered for collecting observations. To boost the estimation performance and reduce the training overhead, the inherent channel sparsity of mmWave channels is leveraged in the deep unfolding method. It is verified that the proposed deep unfolding network architecture can outperform the least squares (LS) method with a relatively smaller training overhead and online computational complexity.

Thijs van de Laar, Ismail Senoz, Ayça Özçelikkale et al.

Active Inference (ActInf) is an emerging theory that explains perception and action in biological agents, in terms of minimizing a free energy bound on Bayesian surprise. Goal-directed behavior is elicited by introducing prior beliefs on the underlying generative model. In contrast to prior beliefs, which constrain all realizations of a random variable, we propose an alternative approach through chance constraints, which allow for a (typically small) probability of constraint violation, and demonstrate how such constraints can be used as intrinsic drivers for goal-directed behavior in ActInf. We illustrate how chance-constrained ActInf weights all imposed (prior) constraints on the generative model, allowing e.g., for a trade-off between robust control and empirical chance constraint violation. Secondly, we interpret the proposed solution within a message passing framework. Interestingly, the message passing interpretation is not only relevant to the context of ActInf, but also provides a general purpose approach that can account for chance constraints on graphical models. The chance constraint message updates can then be readily combined with other pre-derived message update rules, without the need for custom derivations. The proposed chance-constrained message passing framework thus accelerates the search for workable models in general, and can be used to complement message-passing formulations on generative neural models.

John Moberg, Lennart Svensson, Juliano Pinto et al.

A simple approach to obtaining uncertainty-aware neural networks for regression is to do Bayesian linear regression (BLR) on the representation from the last hidden layer. Recent work [Riquelme et al., 2018, Azizzadenesheli et al., 2018] indicates that the method is promising, though it has been limited to homoscedastic noise. In this paper, we propose a novel variation that enables the method to flexibly model heteroscedastic noise. The method is benchmarked against two prominent alternative methods on a set of standard datasets, and finally evaluated as an uncertainty-aware model in model-based reinforcement learning. Our experiments indicate that the method is competitive with standard ensembling, and ensembles of BLR outperforms the methods we compared to.

Shen Li, Christian Häger, Nil Garcia et al.

Machine learning is used to compute achievable information rates (AIRs) for a simplified fiber channel. The approach jointly optimizes the input distribution (constellation shaping) and the auxiliary channel distribution to compute AIRs without explicit channel knowledge in an end-to-end fashion.

Florian Meyer, Henk Wymeersch, Markus Fröhle et al.

We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking control optimizing the behavior of the agents. It is suited to nonlinear and non-Gaussian problems and, in particular, to location-aware networks. For cooperative estimation, a combination of belief propagation message passing and consensus is used. For cooperative control, the negative posterior joint entropy of all states is maximized via a gradient ascent. The estimation layer provides the control layer with probabilistic information in the form of sample representations of probability distributions. Simulation results demonstrate intelligent behavior of the agents and excellent estimation performance for a simultaneous self-localization and target tracking problem. In a cooperative localization scenario with only one anchor, mobile agents can localize themselves after a short time with an accuracy that is higher than the accuracy of the performed distance measurements.