Throughout the last decades, Robotics Community has influenced Autonomous Vehicles field in multiple different areas ranging from Scene Understanding and Decision Making to Vehicle Control Optimal Path Planning. Existing path planning algorithms such as A-star, Dijkstra Graph-based approaches, although providing good optimal approximations, are suffering high-runtimes convergence. This paper presents an innovative computationally efficient approach of fusing well-known Hybrid A-star search...

Direction of Arrival (DoA) estimation using Sparse Linear Arrays (SLAs) has recently gained considerable attention in array processing thanks to their capability provide enhanced degrees freedom resolving uncorrelated source signals. Additionally, deployment one-bit Analog-to-Digital Converters (ADCs) emerged as an important topic processing, it offers both a low-cost and low-complexity implementation. In this paper, we study the problem DoA from measurements received by SLA. Specifically,...

Several Internet-of-Things (IoT) applications provide location-based services, wherein it is critical to obtain accurate position estimates by aggregating information from individual sensors. In the recently proposed narrowband IoT (NB-IoT) standard, which trades off bandwidth gain wide coverage, location estimation compounded low sampling rate receivers and limited-capacity links. We address both of these NB-IoT drawbacks in framework passive sensing devices that receive signals...

Designing unimodular waveforms with a desired beampattern, spectral occupancy and orthogonality level is of vital importance in the next generation Multiple-Input Multiple-Output (MIMO) radar systems. Motivated by this fact, paper, we propose framework for shaping beampattern MIMO systems under constraints simultaneously ensuring unimodularity, designed waveform. In manner, proposed most comprehensive approach waveform design focusing on shaping. The problem formulation leads to non-convex...

The problem of multiple antenna spectrum sensing in cognitive radio (CR) networks is studied this paper. We propose two new invariant constant false-alarm rate eigenvalue-based (EVB) detectors, using the higher order moments sample covariance matrix eigenvalues, by exploiting separating function estimation test framework. find closed-form expressions for and detection probabilities proposed detectors providing moment-based approximations their statistical distributions. accuracy obtained...

The paper studies the problem of waveform design for a joint Radar-Communications (RadComms) system in an automotive setting characterized by multitarget environment. envisaged allows exploitation existing infrastructure to support additional functionalities. In this contribution, radar employing Phase Modulated Continuous Waveform (PMCW) is considered wherein, transmission communications bits additionally facilitated. Particularly, RadComms enabled Differential Shift Keying (DPSK) symbols,...

Parameter estimation from noisy and one-bit quantized data has become an important topic in signal processing, as it offers low cost complexity the implementation. On other hand, Direction-of-Arrival (DoA) using Sparse Linear Arrays (SLAs) recently gained considerable interest array processing due to their attractive capability of providing enhanced degrees freedom. In this paper, problem DoA measurements received by SLA is considered a novel framework for solving proposed. The proposed...

Co-array-based Direction of Arrival (DoA) estimation using Sparse Linear Arrays (SLAs) has recently gained considerable interest in array processing thanks to its capability providing enhanced degrees freedom. Although the literature presents a variety estimators this context, none them are proven be statistically efficient. This work introduces novel estimator for co-array-based DoA employing Weighted Least Squares (WLS) method. An analytical expression large sample performance proposed is...

In this paper, we address the problem of multiantenna spectrum sensing in Cognitive Radios (CRs) by considering correlation between received channels at different antennas. First, derive optimum genie-aided detector which assumes perfect knowledge antenna coefficients, Primary User (PU) signal power and noise variance. This is used as a benchmark for comparing with more practical detectors when some or all these parameters are unknown to Secondary (SU). Two scenarios considered: 1)...

In this study, the authors address problem of multiple antenna spectrum sensing in cognitive radios by exploiting prior information about unknown parameters. Specifically, under assumption that parameters are random with given proper distributions, use a Bayesian generalised likelihood ratio test (B‐GLRT) order to derive corresponding detectors for three different scenarios: (i) only channel gains secondary user (SU), (ii) noise variance is SU, (iii) both and SU. For first third scenarios,...

This letter studies the problem of Direction Arrival (DoA) estimation from low-resolution few-bit quantized data collected by Sparse Linear Array (SLA). In such cases, contrary to one-bit quantization case, well known arcsine law cannot be employed estimate covaraince matrix unquantized array data. Instead, we develop a novel optimization-based framework for retrieving measurements. The MUSIC algorithm is then applied an augmented version recovered covariance find source DoAs. simulation...

We consider the problem of multiantenna spectrum sensing (SS) in cognitive radios (CRs) when receivers are assumed to be uncalibrated across antennas. The performance Hadamard Ratio Detector (HRD) is analyzed such a scenario. Specifically, we first derive exact distribution HRD statistic under null hypothesis, which leads an elaborate but closed-form expression for false-alarm probability. Then, simpler and tight approximation both detection probabilities by using moment-based statistical...

In this paper, a new framework for designing the radar transmit waveform is established through shaping Ambiguity Function (AF). Specifically, AF of phase coded waveforms are analyzed and it shown that continuous/discrete sequence with desired can be obtained by solving an optimization problem promoting equality between AF. An iterative algorithm based on Coordinate Descent (CD) method introduced to deal resulting non-convex problem. Numerical results illustrate proposed make possible design...

Autonomous driving and its practical applications for mobile robotics (e.g. automotive industry) are one of the most futuristic plans engineering industry which will change way using vehicles. Having a fully autonomous vehicle on public roads is not something short future. To bring technology to real life, very first step would be bringing gradually in people's routine style. An automated parking system vehicles these examples life applications. Planning an optimum path all types scenarios...

Planning a global path to navigate autonomous vehicles from generic perspective defines the overall maneuvers and performance of vehicles. Inefficient time-consuming approaches limit in planning reach desired target position. This paper presents low-cost computationally efficient approach fusing well-known Hybrid A* search algorithm with Voronoi diagram find shortest possible non-holonomic route hybrid (continuous-discrete) environment for valet parking applications. The primary novelty our...

In this paper, Collaborative Spectrum Sensing (CSS) as one of the most efficient sensing approaches in Cognitive Radio Networks (CRNs) is investigated when Secondary Users (SUs) observations are assumed to be correlated. A novel soft decision rule based on covariance matrix SUs proposed. By using proposed scheme, we derive two Generalized Likelihood Ratio (GLR) detectors and then, obtain closed-form expressions for detection false-alarm probabilities. The collaborative method can control...

Automotive radars usually employ multiple-input multiple-output (MIMO) antenna arrays to achieve high azimuthal resolution with fewer elements than a phased array. Despite this advantage, hardware costs and desired radar size limits the usage of more antennas in Similar trade-off is encountered while attempting range which limited by signal bandwidth. However, nowadays given demand for spectrum from communications services, wide bandwidth not readily available. To address these issues, we...

In this paper, we study the problem of multiple antenna spectrum sensing by using cyclostationary features Primary Users (PUs) signals in Cognitive Radios (CRs). We consider general case presence spatially and temporally correlated noise when PU signal has more than one cyclic frequency. model formulate as a composite hypothesis testing use Generalized Likelihood Ratio Test (GLRT) to derive detector for mentioned above. Then, also propose GLRT-based detectors two special cases of: 1)...

We establish the generalized likelihood ratio (GLR) test for a Gaussian signal of known power spectral shape and unknown rank-one spatial signature in additive white noise with an diagonal correlation matrix. This is motivated by spectrum sensing problems dynamic access, which temporal primary can be assumed up to scaling, where due uncalibrated receive array. For spatially independent identically distributed (i.i.d.) noise, corresponding GLR reduces scalar optimization problem, whereas...

Sparse linear arrays (SLAs), such as nested and co-prime arrays, have the attractive capability of providing enhanced degrees freedom by exploiting co-array model. Accordingly, co-array-based Direction Arrivals (Doas) estimation has recently gained considerable interest in array processing. The literature suggested applying MUSIC on an augmented sample covariance matrix for Doas estimation. In this paper, we propose a Least Squares (LS) estimator DoAs employing fitting method alternative to...

Co-array-based Direction of Arrival (DoA) estimation using Sparse linear arrays (SLAs) has recently gained considerable interest in array processing due to the attractive capability providing enhanced degrees freedom. Although a variety estimators have been suggested literature for co-array-based DoA estimation, none them are statistically efficient. This work introduces novel Weighted Least Squares (WLS) estimator employing covariance fitting method. Then, an optimal weighting is given so...

Recently autonomous parking has got a great attention from researchers both Academy and Industry being known as one of the key subsets driving. Since driving is at its hype but with many remaining concerns, more practical for daily applications feasible to be immediately realized mass-production in automotive industry. Current solutions require multiple maneuvers significant amount time park, which lead problematic real-life applications, depending on traffic situation around ego-vehicle. In...

Location-based services form an important use-case in emerging narrowband Internet-of-Things (NB-IoT) networks. Critical to this offering is accurate estimation of the location without overlaying network with additional active sensors. The massive number devices, low power requirement, and bandwidths restrict sampling rates NB-IoT receivers. In paper, we propose a novel low-complexity approach for target delay cases where one-bit analog-to-digital-converters (ADCs) are employed sample...