In autonomous driving, goal-based multi-trajectory prediction methods are proved to be effective recently, where they first score goal candidates, then select a final set of goals, and finally complete trajectories based on the selected goals. Howeve
r, these methods usually involve goal predictions based on sparse predefined anchors. In this work, we propose an anchor-free model, named DenseTNT, which performs dense goal probability estimation for trajectory prediction. Our model achieves state-of-the-art performance, and ranks 1st on the Waymo Open Dataset Motion Prediction Challenge.
A novel dual-function radar communication (DFRC) system is proposed, that achieves high target resolution and high communication rate. It consists of a multiple-input multiple-output (MIMO) radar, where only a small number of antennas are active in e
ach channel use. The probing waveforms are orthogonal frequency division multiplexing (OFDM) type. The OFDM carriers are divided into two groups, one that is used by the active antennas in a shared fashion, and another one, where each subcarrier is assigned to an active antenna in an exclusive fashion (private subcarriers). Target estimation is carried out based on the received and transmitted symbols. The system communicates information via the transmitted OFDM data symbols and the pattern of active antennas in a generalized spatial modulation (GSM) fashion. A multi-antenna communication receiver can identify the indices of active antennas via sparse signal recovery methods. The use of shared subcarriers enables high communication rate. The private subcarriers are used to synthesize a virtual array for high angular resolution, and also for improved estimation on the active antenna indices. The OFDM waveforms allow the communication receiver to easily mitigate the effect of frequency selective fading, while the use of a sparse array at the transmitter reduces the hardware cost of the system. The radar performance of the proposed DFRC system is evaluated via simulations, and bit error rate (BER) results for the communication system are provided.
With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable hover contro
ller in the presence of disturbances is presented along with simulation of control system performance. Additionally the design of a tracking system, for linear inertial position and yaw, is presented with simulation results. The gain matrix developed for this control system is independent of the specific quadrotor parameters, meaning that this same gain matrix can be used on a wide variety of quadrotors without modification. The hover and tracking controllers designed in this paper proved to perform well in simulation under perturbation disturbances and normally distributed disturbances on the UAVs linear speeds and angular speeds.
In a typical MIMO radar scenario, transmit nodes transmit orthogonal waveforms, while each receive node performs matched filtering with the known set of transmit waveforms, and forwards the results to the fusion center. Based on the data it receives
from multiple antennas, the fusion center formulates a matrix, which, in conjunction with standard array processing schemes, such as MUSIC, leads to target detection and parameter estimation. In MIMO radars with compressive sensing (MIMO-CS), the data matrix is formulated by each receive node forwarding a small number of compressively obtained samples. In this paper, it is shown that under certain conditions, in both sampling cases, the data matrix at the fusion center is low-rank, and thus can be recovered based on knowledge of a small subset of its entries via matrix completion (MC) techniques. Leveraging the low-rank property of that matrix, we propose a new MIMO radar approach, termed, MIMO-MC radar, in which each receive node either performs matched filtering with a small number of randomly selected dictionary waveforms or obtains sub-Nyquist samples of the received signal at random sampling instants, and forwards the results to a fusion center. Based on the received samples, and with knowledge of the sampling scheme, the fusion center partially fills the data matrix and subsequently applies MC techniques to estimate the full matrix. MIMO-MC radars share the advantages of the recently proposed MIMO-CS radars, i.e., high resolution with reduced amounts of data, but unlike MIMO-CS radars do not require grid discretization. The MIMO-MC radar concept is illustrated through a linear uniform array configuration, and its target estimation performance is demonstrated via simulations.
We consider a colocated MIMO radar scenario, in which the receive antennas forward their measurements to a fusion center. Based on the received data, the fusion center formulates a matrix which is then used for target parameter estimation. When the r
eceive antennas sample the target returns at Nyquist rate, and assuming that there are more receive antennas than targets, the data matrix at the fusion center is low-rank. When each receive antenna sends to the fusion center only a small number of samples, along with the sample index, the receive data matrix has missing elements, corresponding to the samples that were not forwarded. Under certain conditions, matrix completion techniques can be applied to recover the full receive data matrix, which can then be used in conjunction with array processing techniques, e.g., MUSIC, to obtain target information. Numerical results indicate that good target recovery can be achieved with occupancy of the receive data matrix as low as 50%.
