Simultaneous wireless information and power transfer (SWIPT) has been proposed to offer communication services and transfer power to the energy harvesting receiver (EHR) concurrently. However, existing works mainly focused on static EHRs, without considering the location uncertainty caused by the movement of EHRs and location estimation errors. To tackle this issue, this paper considers the sensing-assisted SWIPT design in a networked integrated sensing and communication (ISAC) system in the presence of location uncertainty. A two-phase robust design is proposed to reduce the location uncertainty and improve the power transfer efficiency. In particular, each time frame is divided into two phases, i.e., sensing and WPT phases, via time-splitting. The sensing phase performs collaborative sensing to localize the EHR, whose results are then utilized in the WPT phase for efficient WPT. To minimize the power consumption with given communication and power transfer requirements, a two-layer optimization framework is proposed to jointly optimize the time-splitting ratio, coordinated beamforming policy, and sensing node selection. Simulation results validate the effectiveness of the proposed design and demonstrate the existence of an optimal time-splitting ratio for given location uncertainty.
This paper investigates the robust design of symbol-level precoding (SLP) for multiuser multiple-input multiple-output (MIMO) downlink transmission with imperfect channel state information (CSI) caused by channel aging. By utilizing the a posteriori channel model based on the widely adopted jointly correlated channel model, the imperfect CSI is modeled as the statistical CSI incorporating the channel mean and channel variance information with spatial correlation. With the signal model in the presence of channel aging, we formulate the signal-to-noise-plus-interference ratio (SINR) balancing and minimum mean square error (MMSE) problems for robust SLP design. The former targets to maximize the minimum SINR across users, while the latter minimizes the mean square error between the received signal and the target constellation point. When it comes to massive MIMO scenarios, the increment in the number of antennas poses a computational complexity challenge, limiting the deployment of SLP schemes. To address such a challenge, we simplify the objective function of the SINR balancing problem and further derive a closed-form SLP scheme. Besides, by approximating the matrix involved in the computation, we modify the proposed algorithm and develop an MMSE-based SLP scheme with lower computation complexity. Simulation results confirm the superiority of the proposed schemes over the state-of-the-art SLP schemes.
This paper explores opportunities and challenges of task (goal)-oriented and semantic communications for next-generation (NextG) communication networks through the integration of multi-task learning. This approach employs deep neural networks representing a dedicated encoder at the transmitter and multiple task-specific decoders at the receiver, collectively trained to handle diverse tasks including semantic information preservation, source input reconstruction, and integrated sensing and communications. To extend the applicability from point-to-point links to multi-receiver settings, we envision the deployment of decoders at various receivers, where decentralized learning addresses the challenges of communication load and privacy concerns, leveraging federated learning techniques that distribute model updates across decentralized nodes. However, the efficacy of this approach is contingent on the robustness of the employed deep learning models. We scrutinize potential vulnerabilities stemming from adversarial attacks during both training and testing phases. These attacks aim to manipulate both the inputs at the encoder at the transmitter and the signals received over the air on the receiver side, highlighting the importance of fortifying semantic communications against potential multi-domain exploits. Overall, the joint and robust design of task-oriented communications, semantic communications, and integrated sensing and communications in a multi-task learning framework emerges as the key enabler for context-aware, resource-efficient, and secure communications ultimately needed in NextG network systems.
We analyze prior-free predictions in the design of persuasion games: settings where Receiver contracts their action on Sender's choices of experiment and realized signals about some state. To do so, we characterize robust mechanisms - those which induce the same allocation rules (mappings from the state to actions) regardless of prior beliefs. These mechanisms take a simple form: they (1) incentivize fully revealing experiments, (2) depend only on the induced posterior, and (3) maximally punish pooling deviations. We then highlight a tight connection between ordinal preference uncertainty and prior-dependent predictions - all such rules are implementable if and only if the sender has a state-independent least favorite action. This, in turn, implies all (and only) ordinally monotone allocation rules are robust in binary action problems. We apply our model to school choice and uncover a novel informational justification for deferred acceptance when school preferences depend on students' unknown ability. Finally, we study good allocation settings with externalities and state-dependent outside options and show all efficient allocation rules are robust, even with significant preference heterogeneity.
In this paper, we propose a novel joint source-channel coding (JSCC) approach for channel-adaptive digital semantic communications. In semantic communication systems with digital modulation and demodulation, robust design of JSCC encoder and decoder becomes challenging not only due to the unpredictable dynamics of channel conditions but also due to diverse modulation orders. To address this challenge, we first develop a new demodulation method which assesses the uncertainty of the demodulation output to improve the robustness of the digital semantic communication system. We then devise a robust training strategy which enhances the robustness and flexibility of the JSCC encoder and decoder against diverse channel conditions and modulation orders. To this end, we model the relationship between the encoder's output and decoder's input using binary symmetric erasure channels and then sample the parameters of these channels from diverse distributions. We also develop a channel-adaptive modulation technique for an inference phase, in order to reduce the communication latency while maintaining task performance. In this technique, we adaptively determine modulation orders for the latent variables based on channel conditions. Using simulations, we demonstrate the superior performance of the proposed JSCC approach for image classification, reconstruction, and retrieval tasks compared to existing JSCC approaches.
Integrated sensing and communication (ISAC), which enables hardware, resources (e.g., spectra), and waveforms sharing, is becoming a key feature in future-generation communication systems. This paper investigates performance characterization and waveform design for ISAC systems when the underlying true communication channels are not accurately known. With uncertainty in a nominal communication channel, the nominal Pareto frontier of the sensing and communication performances cannot represent the true performance trade-off of a real-world operating ISAC system. Therefore, this paper portrays the robust (i.e., conservative) Pareto frontier considering the uncertainty in the communication channel. To be specific, the lower bound of the true (but unknown) Pareto frontier is investigated, technically by studying robust waveform design problems that find the best waveforms under the worst-case channels. The robust waveform design problems examined in this paper are shown to be non-convex and high-dimensional, which cannot be solved using existing optimization techniques. As such, we propose a computationally efficient solution framework to approximately solve them. Simulation results show that by solving the robust waveform design problems, the lower bound of the true but unknown Pareto frontier, which characterizes the sensing-communication performance trade-off under communication channel uncertainty, can be obtained.
Decision theory recognizes two principal approaches to solving problems under uncertainty: probabilistic models and cognitive heuristics. However, engineers, public planners and decision-makers in other fields seem to employ solution strategies that do not fall into either field, i.e., strategies such as robust design and contingency planning. In addition, identical strategies appear in several fields and disciplines, pointing to an important shared toolkit. The focus of this paper is to develop a systematic understanding of such strategies and develop a framework to better employ them in decision making and risk management. The paper finds more than 110 examples of such strategies and this approach to risk is termed RDOT: Risk-reducing Design and Operations Toolkit. RDOT strategies fall into six broad categories: structural, reactive, formal, adversarial, multi-stage and positive. RDOT strategies provide an efficient response even to radical uncertainty or unknown unknowns that are challenging to address with probabilistic methods. RDOT could be incorporated into decision theory using workflows, multi-objective optimization and multi-attribute utility theory. Overall, RDOT represents an overlooked class of versatile responses to uncertainty. Because RDOT strategies do not require precise estimation or forecasting, they are particularly helpful in decision problems affected by uncertainty and for resource-constrained decision making.
For multiple Unmanned-Aerial-Vehicles (UAVs) assisted Mobile Edge Computing (MEC) networks, we study the problem of combined computation and communication for user equipments deployed with multi-type tasks. Specifically, we consider that the MEC network encompasses both communication and computation uncertainties, where the partial channel state information and the inaccurate estimation of task complexity are only available. We introduce a robust design accounting for these uncertainties and minimize the total weighted energy consumption by jointly optimizing UAV trajectory, task partition, as well as the computation and communication resource allocation in the multi-UAV scenario. The formulated problem is challenging to solve with the coupled optimization variables and the high uncertainties. To overcome this issue, we reformulate a multi-agent Markov decision process and propose a multi-agent proximal policy optimization with Beta distribution framework to achieve a flexible learning policy. Numerical results demonstrate the effectiveness and robustness of the proposed algorithm for the multi-UAV-assisted MEC network, which outperforms the representative benchmarks of the deep reinforcement learning and heuristic algorithms.
In this paper, a novel robust beamforming for an intelligent reflecting surface (IRS) assisted FD system is presented. Since perfect channel state information (CSI) is often challenging to acquire in practice, we consider the case of imperfect CSI and adopt a statistically robust beamforming approach to maximize the ergodic weighted sum rate (WSR). We also analyze the achievable WSR of an IRS-assisted FD with imperfect CSI, for which the lower and the upper bounds are derived. The ergodic WSR maximization problem is tackled based on the expected Weighted Minimum Mean Squared Error (WMMSE), which is guaranteed to converge to a local optimum. The effectiveness of the proposed design is investigated with extensive simulation results. It is shown that our robust design achieves significant performance gain compared to the naive beamforming approaches and considerably outperforms the robust Half-Duplex (HD) system.
The so-called ``New Space era'' has seen a disruptive change in the business models and manufacturing technologies of launch vehicle companies. However, limited consideration has been given to the benefits that innovation in control theory can bring; not only in terms of increasing the limits of performance but also reducing mission preparation or ``missionisation'' efforts. Moreover, there is a gap between the current state-of-practice that still relies on linear controls and other modern control techniques that could bring relevant improvements in launcher attitude control. Nonlinear Dynamic Inversion (NDI) is a technique that basically `cancels' the nonlinearities of a class of nonlinear systems, allowing for a single linear control law to be applied without the need for gain-scheduling across different operational points. Incremental NDI (INDI) is a variation of NDI that generates incremental commands and employs acceleration feedback to reduce model dependency, making it easier to design, and results in being more robust in closed-loop. While INDI has been applied successfully to several aerospace applications, its applicability to launch vehicles has not yet been adequately investigated. The objective of this paper is therefore to introduce and raise awareness of the INDI method among the launcher guidance, navigation, and control (GNC) community, showcasing its implementation on a representative launch ascent application scenario which highlights INDI's strengths and challenges. We present a new, practical approach for stability analysis of INDI for attitude control, and compare INDI with scheduled PD controllers with- and without angular acceleration estimates. Results show that, while INDI controllers are generally more sensitive to sensor noise and actuator delay than linear controllers, their potential benefits outweigh these limitations in terms of robustness and performance.
We study the regulation of a monopolistic firm using a robust-design approach. We solve for the policy that minimizes the regulator's worst-case regret, where the regret is the difference between his complete-information payoff minus his realized payoff. When the regulator's payoff is consumers' surplus, it is optimal to impose a price cap. The optimal cap balances the benefit from more surplus for consumers and the loss from underproduction. When his payoff is consumers' surplus plus the firm's profit, he offers a piece-rate subsidy in order to mitigate underproduction, but caps the total subsidy so as not to incentivize severe overproduction.
This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the relative motion. The class of motion systems with the only measurable output displacement is considered. The reduced-order Luenberger type observer is designed based on the obtained simplified state-space representation with a time-varying system matrix. The resulted observation error dynamics proves to be robust and appropriate for all variations of the system matrix, which are due to the nonlinear spatially varying friction. A specially designed tribological setup to accurately monitor the relative motion between two contacting friction surfaces is used to collect the experimental data of the deceleration trajectories when excited by a series of impulses. The performance of the state estimation using the proposed observer is shown based on the collected experimental data.
Unmanned aerial vehicle (UAV) holds immense potential in integrated sensing and communication (ISAC) systems for the Internet of Things (IoT). In this paper, we propose a UAV-aided ISAC framework and investigate three robust power allocation schemes. First, we derive an explicit expression of the Cram\'er-Rao bound (CRB) based on time-of-arrival (ToA) estimation, which serves as the performance metric for location sensing. Then, we analyze the impact of the location sensing error (LSE) on communications, revealing the inherent coupling relationship between communication and sensing. Moreover, we formulate three robust communication and sensing power allocation problems by respectively characterizing the LSE as an ellipsoidal distributed model, a Gaussian distributed model, and an arbitrary distributed model. Notably, the optimization problems seek to minimize the CRB, subject to data rate and total power constraints. However, these problems are non-convex and intractable. To address the challenges related to the three aforementioned LSE models, we respectively propose to use the ${\cal{S}}$-Procedure and alternating optimization (${\cal{S}}$-AO) method, Bernstein-type inequality and successive convex approximation (BI-SCA) method, and conditional value-at-risk (CVaR) and AO (CVaR-AO) method to solve these problems. Finally, simulation results demonstrate the robustness of our proposed UAV-aided ISAC system against the LSE by comparing with the non-robust design, and evaluate the trade-off between communication and sensing in the ISAC system.
This paper proposes a robust design of the time-varying internal model principle-based control (TV-IMPC) for tracking sophisticated references generated by linear time-varying (LTV) autonomous systems. The existing TV-IMPC design usually requires a complete knowledge of the plant I/O (input/output) model, leading to the lack of structural robustness. To tackle this issue, we, in the paper, design a gray-box extended state observer (ESO) to estimate and compensate unknown model uncertainties and external disturbances. By means of the ESO feedback, the plant model is kept as nominal, and hence the structural robustness is achieved for the time-varying internal model. It is shown that the proposed design has bounded ESO estimation errors, which can be further adjusted by modifying the corresponding control gains. To stabilize the ESO-based TV-IMPC, a time-varying stabilizer is developed by employing Linear Matrix Inequalities (LMIs). Extensive simulation and experimental studies are conducted on a direct-drive servo stage to validate the proposed robust TV-IMPC with ultra-precision tracking performance ($\sim 60$nm RMSE out of $\pm80$mm stroke).
Graph Neural Networks (GNNs) obtain tremendous success in modeling relational data. Still, they are prone to adversarial attacks, which are massive threats to applying GNNs to risk-sensitive domains. Existing defensive methods neither guarantee performance facing new data/tasks or adversarial attacks nor provide insights to understand GNN robustness from an architectural perspective. Neural Architecture Search (NAS) has the potential to solve this problem by automating GNN architecture designs. Nevertheless, current graph NAS approaches lack robust design and are vulnerable to adversarial attacks. To tackle these challenges, we propose a novel Robust Neural Architecture search framework for GNNs (G-RNA). Specifically, we design a robust search space for the message-passing mechanism by adding graph structure mask operations into the search space, which comprises various defensive operation candidates and allows us to search for defensive GNNs. Furthermore, we define a robustness metric to guide the search procedure, which helps to filter robust architectures. In this way, G-RNA helps understand GNN robustness from an architectural perspective and effectively searches for optimal adversarial robust GNNs. Extensive experimental results on benchmark datasets show that G-RNA significantly outperforms manually designed robust GNNs and vanilla graph NAS baselines by 12.1% to 23.4% under adversarial attacks.
The level of maturity reached by robust control theory techniques nowadays contributes to a considerable minimization of the development time of an end-to-end control design of a spacecraft system. The advantage offered by this framework is twofold: all system uncertainties can be included from the very beginning of the design process; the validation and verification (V\&V) process is improved by fast detection of worst-case configurations that could escape to a classical sample-based Monte Carlo simulation campaign. Before proceeding to the control synthesis and analysis, a proper uncertain plant model has to be available in order to push these techniques to their limits of performance. In this spirit, the Satellite Dynamics Toolbox Library (SDTlib) offers many features to model a spacecraft system in a multi-body fashion on SIMULINK. Parametric models can be easily built in a Linear Fractional Transformation (LFT) form by including uncertainties and varying parameters with minimal number of repetitions. Uncertain Linear Time Invariant (LTI) and uncertain Linear Parameter-Varying (LPV) controllers can then be synthesized and analyzed in a straightforward way. The authors present in this article a tutorial, that can be downloaded at https://nextcloud.isae.fr/index.php/s/XDfRfHntejHTmmp, to show how to deal with an end-to-end robust design of a spacecraft mission and to provide to researchers a benchmark to test their own algorithms.
Predictive algorithms inform consequential decisions in settings where the outcome is selectively observed given choices made by human decision makers. We propose a unified framework for the robust design and evaluation of predictive algorithms in selectively observed data. We impose general assumptions on how much the outcome may vary on average between unselected and selected units conditional on observed covariates and identified nuisance parameters, formalizing popular empirical strategies for imputing missing data such as proxy outcomes and instrumental variables. We develop debiased machine learning estimators for the bounds on a large class of predictive performance estimands, such as the conditional likelihood of the outcome, a predictive algorithm's mean square error, true/false positive rate, and many others, under these assumptions. In an administrative dataset from a large Australian financial institution, we illustrate how varying assumptions on unobserved confounding leads to meaningful changes in default risk predictions and evaluations of credit scores across sensitive groups.
Over-the-air federated learning (AirFL) allows devices to train a learning model in parallel and synchronize their local models using over-the-air computation. The integrity of AirFL is vulnerable due to the obscurity of the local models aggregated over-the-air. This paper presents a novel framework to balance the accuracy and integrity of AirFL, where multi-antenna devices and base station (BS) are jointly optimized with a reconfigurable intelligent surface (RIS). The key contributions include a new and non-trivial problem jointly considering the model accuracy and integrity of AirFL, and a new framework that transforms the problem into tractable subproblems. Under perfect channel state information (CSI), the new framework minimizes the aggregated model's distortion and retains the local models' recoverability by optimizing the transmit beamformers of the devices, the receive beamformers of the BS, and the RIS configuration in an alternating manner. Under imperfect CSI, the new framework delivers a robust design of the beamformers and RIS configuration to combat non-negligible channel estimation errors. As corroborated experimentally, the novel framework can achieve comparable accuracy to the ideal FL while preserving local model recoverability under perfect CSI, and improve the accuracy when the number of receive antennas is small or moderate under imperfect CSI.
Reconfigurable intelligent surfaces (RISs) have attracted enormous interest thanks to their ability to overcome line-of-sight blockages in mmWave systems, enabling in turn accurate localization with minimal infrastructure. Less investigated are however the benefits of exploiting RIS with suitably designed beamforming strategies for optimized localization and synchronization performance. In this paper, a novel low-complexity method for joint localization and synchronization based on an optimized design of the base station (BS) active precoding and RIS passive phase profiles is proposed, for the challenging case of a single-antenna receiver. The theoretical position error bound is first derived and used as metric to jointly optimize the BS-RIS beamforming, assuming a priori knowledge of the user position. By exploiting the low-dimensional structure of the solution, a novel codebook-based robust design strategy with optimized beam power allocation is then proposed, which provides low-complexity while taking into account the uncertainty on the user position. Finally, a reduced-complexity maximum-likelihood based estimation procedure is devised to jointly recover the user position and the synchronization offset. Extensive numerical analysis shows that the proposed joint BS-RIS beamforming scheme provides enhanced localization and synchronization performance compared to existing solutions, with the proposed estimator attaining the theoretical bounds even at low signal-to-noise-ratio and in the presence of additional uncontrollable multipath propagation.
Rate-Splitting Multiple Access (RSMA) for multi-user downlink operates by splitting the message for each user equipment (UE) into a private message and a set of common messages, which are simultaneously transmitted by means of superposition coding. The RSMA scheme can enhance throughput and connectivity as compared to conventional multiple access techniques by optimizing the rate-splitting ratios along with the corresponding downlink beamforming vectors. This work examines the impact of erroneous channel state information (CSI) on the performance of RSMA in cell-free multiple-input multiple-output (MIMO) systems. An efficient robust optimization algorithm is proposed by using closed-form lower bound expressions on the expected data rates. Extensive numerical results show the importance of robust design in the presence of CSI errors and how the performance gain of RSMA over conventional schemes is affected by CSI imperfection.