Frequency Diverse Array OFDM System for Joint Communication and Sensing

The frequency-diverse array (FDA) offers a time-varying beamforming capability without the use of phase shifters. The autoscanning property is achieved by applying a frequency offset between the antennas. This paper analyzes the performance of an FDA joint communication and sensing system with the orthogonal frequency-division multiplexing (OFDM) modulation. The performance of the system is evaluated against the scanning frequency, number of antennas and number of subcarriers. The utilized metrics; integrated sidelobe level (ISL) and error vector magnitude (EVM) allow for straightforward comparison with a standard single-input single-output (SISO) OFDM system.

Beamforming with Oversampled Time-Modulated Arrays

The time-modulated array (TMA) is a simple array architecture in which each antenna is connected via a multi-throw switch. The switch acts as a modulator switching state faster than the symbol rate. The phase shifting and beamforming is achieved by a cyclic shift of the periodical modulating signal across antennas. In this paper, the TMA mode of operation is proposed to improve the resolution of a conventional phase shifter. The TMAs are analyzed under constrained switching frequency being a small multiple of the symbol rate. The presented generic signal model gives insight into the magnitude, phase and spacing of the harmonic components generated by the quantized modulating sequence. It is shown that the effective phase-shifting resolution can be improved multiplicatively by the oversampling factor ($O$) at the cost of introducing harmonics. Finally, the array tapering with an oversampled modulating signal is proposed. The oversampling provides $O+1$ uniformly distributed tapering amplitudes.

Distributed PMCW Radar Network in Presence of Phase Noise

In Frequency Modulated Continuous Waveform (FMCW) radar systems, the phase noise from the Phase-Locked Loop (PLL) can increase the noise floor in the Range-Doppler map. The adverse effects of phase noise on close targets can be mitigated if the transmitter (Tx) and receiver (Rx) employ the same chirp, a phenomenon known as the range correlation effect. In the context of a multi-static radar network, sharing the chirp between distant radars becomes challenging. Each radar generates its own chirp, leading to uncorrelated phase noise. Consequently, the system performance cannot benefit from the range correlation effect. Previous studies show that selecting a suitable code sequence for a Phase Modulated Continuous Waveform (PMCW) radar can reduce the impact of uncorrelated phase noise in the range dimension. In this paper, we demonstrate how to leverage this property to exploit both the mono- and multi-static signals of each radar in the network without having to share any signal at the carrier frequency. The paper introduces a detailed signal model for PMCW radar networks, analyzing both correlated and uncorrelated phase noise effects in the Doppler dimension. Additionally, a solution for compensating uncorrelated phase noise in Doppler is presented and supported by numerical results.

Active Inference in Hebbian Learning Networks

This work studies how brain-inspired neural ensembles equipped with local Hebbian plasticity can perform active inference (AIF) in order to control dynamical agents. A generative model capturing the environment dynamics is learned by a network composed of two distinct Hebbian ensembles: a posterior network, which infers latent states given the observations, and a state transition network, which predicts the next expected latent state given current state-action pairs. Experimental studies are conducted using the Mountain Car environment from the OpenAI gym suite, to study the effect of the various Hebbian network parameters on the task performance. It is shown that the proposed Hebbian AIF approach outperforms the use of Q-learning, while not requiring any replay buffer, as in typical reinforcement learning systems. These results motivate further investigations of Hebbian learning for the design of AIF networks that can learn environment dynamics without the need for revisiting past buffered experiences.

FMCW Radar Sensing for Indoor Drones Using Learned Representations

Frequency-modulated continuous-wave (FMCW) radar is a promising sensor technology for indoor drones as it provides range, angular as well as Doppler-velocity information about obstacles in the environment. Recently, deep learning approaches have been proposed for processing FMCW data, outperforming traditional detection techniques on range-Doppler or range-azimuth maps. However, these techniques come at a cost; for each novel task a deep neural network architecture has to be trained on high-dimensional input data, stressing both data bandwidth and processing budget. In this paper, we investigate unsupervised learning techniques that generate low-dimensional representations from FMCW radar data, and evaluate to what extent these representations can be reused for multiple downstream tasks. To this end, we introduce a novel dataset of raw radar ADC data recorded from a radar mounted on a flying drone platform in an indoor environment, together with ground truth detection targets. We show with real radar data that, utilizing our learned representations, we match the performance of conventional radar processing techniques and that our model can be trained on different input modalities such as raw ADC samples of only two consecutively transmitted chirps.

Fusing Event-based Camera and Radar for SLAM Using Spiking Neural Networks with Continual STDP Learning

This work proposes a first-of-its-kind SLAM architecture fusing an event-based camera and a Frequency Modulated Continuous Wave (FMCW) radar for drone navigation. Each sensor is processed by a bio-inspired Spiking Neural Network (SNN) with continual Spike-Timing-Dependent Plasticity (STDP) learning, as observed in the brain. In contrast to most learning-based SLAM systems%, which a) require the acquisition of a representative dataset of the environment in which navigation must be performed and b) require an off-line training phase, our method does not require any offline training phase, but rather the SNN continuously learns features from the input data on the fly via STDP. At the same time, the SNN outputs are used as feature descriptors for loop closure detection and map correction. We conduct numerous experiments to benchmark our system against state-of-the-art RGB methods and we demonstrate the robustness of our DVS-Radar SLAM approach under strong lighting variations.

Learning to SLAM on the Fly in Unknown Environments: A Continual Learning Approach for Drones in Visually Ambiguous Scenes

Learning to safely navigate in unknown environments is an important task for autonomous drones used in surveillance and rescue operations. In recent years, a number of learning-based Simultaneous Localisation and Mapping (SLAM) systems relying on deep neural networks (DNNs) have been proposed for applications where conventional feature descriptors do not perform well. However, such learning-based SLAM systems rely on DNN feature encoders trained offline in typical deep learning settings. This makes them less suited for drones deployed in environments unseen during training, where continual adaptation is paramount. In this paper, we present a new method for learning to SLAM on the fly in unknown environments, by modulating a low-complexity Dictionary Learning and Sparse Coding (DLSC) pipeline with a newly proposed Quadratic Bayesian Surprise (QBS) factor. We experimentally validate our approach with data collected by a drone in a challenging warehouse scenario, where the high number of ambiguous scenes makes visual disambiguation hard.

Continuously Learning to Detect People on the Fly: A Bio-inspired Visual System for Drones

This paper demonstrates for the first time that a biologically-plausible spiking neural network (SNN) equipped with Spike-Timing-Dependent Plasticity (STDP) can continuously learn to detect walking people on the fly using retina-inspired, event-based cameras. Our pipeline works as follows. First, a short sequence of event data ($<2$ minutes), capturing a walking human by a flying drone, is forwarded to a convolutional SNNSTDP system which also receives teacher spiking signals from a readout (forming a semi-supervised system). Then, STDP adaptation is stopped and the learned system is assessed on testing sequences. We conduct several experiments to study the effect of key parameters in our system and to compare it against conventionally-trained CNNs. We show that our system reaches a higher peak $F_1$ score (+19%) compared to CNNs with event-based camera frames, while enabling on-line adaptation.

Learning Event-based Spatio-Temporal Feature Descriptors via Local Synaptic Plasticity: A Biologically-realistic Perspective of Computer Vision

We present an optimization-based theory describing spiking cortical ensembles equipped with Spike-Timing-Dependent Plasticity (STDP) learning, as empirically observed in the visual cortex. Using our methods, we build a class of fully-connected, convolutional and action-based feature descriptors for event-based camera that we respectively assess on N-MNIST, challenging CIFAR10-DVS and on the IBM DVS128 gesture dataset. We report significant accuracy improvements compared to conventional state-of-the-art event-based feature descriptors (+8% on CIFAR10-DVS). We report large improvements in accuracy compared to state-of-the-art STDP-based systems (+10% on N-MNIST, +7.74% on IBM DVS128 Gesture). In addition to ultra-low-power learning in neuromorphic edge devices, our work helps paving the way towards a biologically-realistic, optimization-based theory of cortical vision.

Fail-Safe Human Detection for Drones Using a Multi-Modal Curriculum Learning Approach

Drones are currently being explored for safety-critical applications where human agents are expected to evolve in their vicinity. In such applications, robust people avoidance must be provided by fusing a number of sensing modalities in order to avoid collisions. Currently however, people detection systems used on drones are solely based on standard cameras besides an emerging number of works discussing the fusion of imaging and event-based cameras. On the other hand, radar-based systems provide up-most robustness towards environmental conditions but do not provide complete information on their own and have mainly been investigated in automotive contexts, not for drones. In order to enable the fusion of radars with both event-based and standard cameras, we present KUL-UAVSAFE, a first-of-its-kind dataset for the study of safety-critical people detection by drones. In addition, we propose a baseline CNN architecture with cross-fusion highways and introduce a curriculum learning strategy for multi-modal data termed SAUL, which greatly enhances the robustness of the system towards hard RGB failures and provides a significant gain of 15% in peak F1 score compared to the use of BlackIn, previously proposed for cross-fusion networks. We demonstrate the real-time performance and feasibility of the approach by implementing the system in an edge-computing unit. We release our dataset and additional material in the project home page.