|BRAMBILLA MATTIA||Cycle: XXXIII |
Tutor: MONTI-GUARNIERI ANDREA VIRGILIO
Advisor: NICOLI MONICA BARBARA Major Research topic
:Sensor-assisted cooperative localization and communication techniques in multi-agent systemsAbstract:
The doctoral project is focused on the development of methodologies for cooperative localization and communications technique for multi-agent systems, with main application to vehicular and maritime scenarios. The key aspect of this doctoral research is the integration between them: it is studied how to improve localization of agents by exploring communication techniques as well as how to enhance communication performances by extracting information from perception sensors. The first aspect is addressed in both vehicular and maritime contexts, while the second one is specific for urban mobility. The research on cooperative localization led to the development of a pure measurement-based technique where agents cooperate by sharing etherogeneous measurements. It is developed a solution capable of detecting an unknown and unlimited number of targets, whose localization can be profitably used upside-down to reduce the uncertainty of agent self localization. Regarding the second research area, it is proposed a sensor-assisted technique for V2X communications, where vehicles use on-board sensors to assist the telecommunication apparata.E xtremely directional wideband communications are explored in the contexts of millimeter Wave (mmW) and Free-Space Optics (FSO). The research is targeted to integrate vehicle-specific sensors with communication aspects, such that directional V2X beams can be oriented according to the information provided by perception sensors. Attentions are given not only to the specific technical aspects of the methodology, but also a system-level architecture is proposed. By this research, inter-vehicle cooperation over multiple links and intra-vehicle data fusion of on-board sensors data are combined in a unified system targeted to guarantee highly reliable beam-based V2X links even in challenging mobility scenarios. Besides alignment-specific methodologies, a different aspect of V2X communications has also been considered: channel modeling. In this case, the research is targeted to extend a currently available mmW channel model such that mobility aspects are considered. This work, besides providing a mobility-specific modeling of mmWave propagation over space and time, allows the testing of different beam alignment techniques.