Robust Platoon Control of Mixed Autonomous and Human-Driven Vehicles for Obstacle Collision Avoidance:A Cooperative Sensing-Based Adaptive Model Predictive Control Approach

Obstacle detection and platoon control for mixed traffic flows,comprising human-driven vehicles(HDVs)and connected and autonomous vehicles(CAVs),face challenges from uncertain disturbances,such as sensor faults,inaccurate driver operations,and mismatched model errors.Furthermore,misleading sensing information or malicious attacks in vehicular wireless networks can jeopardize CAVs’perception and platoon safety.In this paper,we develop a two-dimensional robust control method for a mixed platoon,including a single leading CAV and multiple following HDVs that incorpo-rate robust information sensing and platoon control.To effectively detect and locate unknown obstacles ahead of the leading CAV,we propose a cooperative vehicle-infrastructure sensing scheme and integrate it with an adaptive model predictive control scheme for the leading CAV.This sensing scheme fuses information from multiple nodes while suppressing malicious data from attackers to enhance robustness and attack resilience in a distributed and adaptive manner.Additionally,we propose a distributed car-following control scheme with robustness to guarantee the following HDVs,considering uncertain disturbances.We also provide theoretical proof of the string stability under this control framework.Finally,extensive simulations are conducted to validate our approach.The simulation results demonstrate that our method can effectively filter out misleading sensing information from malicious attackers,significantly reduce the mean-square deviation in obstacle sensing,and approach the theoretical error lower bound.Moreover,the proposed control method successfully achieves obstacle avoidance for the mixed platoon while ensuring stability and robustness in the face of external attacks and uncertain disturbances.

Energy-aware cooperative spectrum sensingfor underground cognitive sensor networks

With the development of wireless technologies,multifarious standards are currently used in the underground coal mine communication systems.In this paper,the coexistence of 802.15.4 based wireless senser networks （WSNs） with other wireless networks using cognitive radio technique are discussed.Multiple sensor nodes are involved in the spectrum sensing to avoid the interference from other wireless users.The more the sensor nodes cooperate in the sensing,the better the detection performance can be obtained; however,more energy is consumed.How to get the tradeoff between energy efficiency and detection performance is a key problem.According to the requirements for detection,we first give the least required detection time of a single sensor node.Then,the voting fusion rule is adopted for the final decision making.Finally,the relationship between final detection performance and energy consumption is analyzed.

Optimal decision threshold for soft decision cooperative spectrum sensing

In order to achieve higher spectrum efficiency in cognitive radio （CR） systems, a closed-form expression of the optimal decision threshold for soft decision cooperative spectrum sensing based on the minimum total error probability criterion is derived. With the analytical expression of the optimal decision threshold, the impact of different sensing parameters on the threshold value is studied. Theoretical analyses show that the optimal threshold achieves an efficient trade-off between the missed detection probability and the false alarm probability. Simulation results illustrate that the average signal-to-noise ratio （SNR） and the soft combination schemes have a great influence on the optimal threshold value, whereas the number of samples has a weak impact on the optimal threshold value. Furthermore, for the maximal ratio combing （MRC） and the modified deflection coefficient （MDC） schemes, the optimal decision threshold value increases and approaches a corresponding individual limit value while the number of CR users increases. But the number of CR users has a weak influence on the optimal decision threshold for the equal gain combining （EGC） scheme.

Joint Optimal Energy-Efficient Cooperative Spectrum Sensing and Transmission in Cognitive Radio

In order to improve the energy efficiency(EE) in cognitive radio(CR), a joint optimal energy-efficient cooperative spectrum sensing(CSS) and transmission in multi-channel CR is proposed in this paper. EE is described as a tradeoff between the throughput and the entirely consumed power. A joint optimization problem is formulated to maximize EE by jointly optimizing local sensing time, number of cooperative sensing secondary users(SU), transmission bandwidth and power. A combined optimization algorithm of bi-level optimization, Polyblock optimization and Dinkelbach's optimization is proposed to solve the proposed non-convex optimization problem effectively. The simulation results show that, compared with throughput maximization model(TMM), the energy efficiency maximization model(EEMM) improves EE of the CR system and limits the excessive power consumption effectively.

Weighted Hard Combination for Cooperative Spectrum Sensing in Cognitive Radio Networks

Weighted one bit hard combination for cooperative spectrum sensing is proposed in this paper. Two thresholds are adopted to divide the possible energy value into three weighted regions. If the energy value falls into the corresponding region,it will be judged as "1",no information or "0". When the probability of false alarm is constrained to be constant,the objective is to maximize the probability of detection. The optimization problem is simplified by separating the weight of the middle region into several intervals. Simulation results show that the sensing performance of the proposed scheme is much better than that of the traditional one bit hard combination scheme and almost the same as that of the equal gain combination(EGC) scheme. Moreover,compared with the traditional one bit hard combination,fewer average sensing bits are required to transmit to the data fusion center with the proposed method.

A NOVEL COOPERATIVE SPECTRUM SENSING METHOD BASED ON COOPERATIVE GAME THEORY

A novel cooperative sensing method is proposed in this paper. The proposed scheme adopts sensing creditability degree to characterize the impact of the distance and the channel parameters on the sensing result,and considers that each user has different average SNR and different decision threshold,by using General Nash Bargaining Solution (GNBS) strategy in Cooperative Game Theory (CGT),the detection performance for two-user case are derived. For multi-user case,the sensing performance is obtained with Hungarian method. Compared with the traditional schemes such as Nash Bargaining Solution (NBS) and AND,the proposed scheme covers all the factors mentioned above,and enhances the sensing rationality and reliability. Simulation results show that the proposed scheme can further improve the sensing performance and creditability.

MEC Enabled Cooperative Sensing and Resource Allocation for Industrial IoT Systems

In industrial Internet of Things systems,state estimation plays an important role in multisensor cooperative sensing.However,the state information received by remote control center experiences random delay,which inevitably affects the state estimation performance.Moreover,the computation and storage burden of remote control center is very huge,due to the large amount of state information from all sensors.To address this issue,we propose a layered network architecture and design the mobile edge computing(MEC)enabled cooperative sensing scheme.In particular,we first characterize the impact of random delay on the error of state estimation.Based on this,the cooperative sensing and resource allocation are optimized to minimize the state estimation error.The formulated constrained minimization problem is a mixed integer programming problem,which is effectively solved with problem decomposition based on the information content of delivered data packets.The improved marine predators algorithm(MPA)is designed to choose the best edge estimator for each sensor to pretreat the sensory information.Finally,the simulation results show the advantage and effectiveness of proposed scheme in terms of estimation accuracy.

Reputation-Based Cooperative Spectrum Sensing Algorithm for Mobile Cognitive Radio Networks

Identifying malicious users accurately in cognitive radio networks(CRNs) is the guarantee for excellent detection performance. However, existing algorithms fail to take the mobility of secondary users into consideration. If applied directly in mobile CRNs, those conventional algorithms would overly punish reliable users at extremely bad or good locations, leading to an obvious decrease in detection performance. To overcome this problem, we divide the whole area of interest into several cells to consider the location diversity of the network. Each user's reputation score is updated after each sensing slot and is used for identifying whether it is malicious or not. If so, it would be removed away. And then our algorithm assigns users in cells with better channel conditions, i.e. larger signal-to-noise ratios(SNRs), with larger weighting coefficients, without requiring the prior information of SNR. Detailed analysis about the validity of our algorithm is presented. The simulation results show that in a CRN with 60 mobile secondary users, among which, 18 are malicious, our solution has an improvement of detection probability by 0.97-d B and 3.57-d B when false alarm probability is 0.1, compared with a conventional trust-value-based algorithm and a trusted collaborative spectrum sensing for mobile CRNs, respectively.

Cooperative Spectrum Sensing Exploiting a Certain Number of CR Users Based on Multi- Antennas in Cognitive Radio Networks

In this paper,a cooperative spectrum sensing scheme,which is based on cooperation of a certain number of secondary users and cooperative diversity under multi-antenna scenario,is proposed.Under multi-antenna scenario,we set a targeted detection probability and optimize the false alarm probability of the network by choosing a certain number of secondary users with the highest primary user’s signal to noise ratio.The detection performance of the network is also evaluated when all the secondary users are cooperating to illustrate the benefits of the proposed scheme as a contrast.In addition,how to choose the detection threshold of the secondary user is analyzed for the purpose of decreasing the average risk.Theory analysis and simulation results show that the optimum false alarm probability can be derived by cooperating a certain number of secondary users rather than all the secondary users and the detection performance of the network can be further improved if secondary users are equipped with multiple antennas.Also,a minimum average risk can be obtained by optimizing the detection threshold.

Compressed Sensing-Based Multiuser Cooperative Networks

To avoid interference, compressed sensing is introduced into multiuser cooperative network. A cooperative compressed sensing and amplify-and-forward(CCS-AF)scheme is proposed, and it is proved that the channel capacity increases compared with the traditional cooperative scheme by considering the CCS-AF transmission matrix as the measurement matrix. Moreover, a new power allocation algorithm among the relays is proposed to improve the channel capacity. Numerical results validate the effectiveness of the proposed scheme.

Cooperative Subcarrier Sensing Using Antenna Diversity Based Weighted Virtual Sub Clustering

The idea of cooperation and the clustering amongst cognitive radios(CRs) has recently been focus of attention of research community, owing to its potential to improve performance of spectrum sensing(SS) schemes. This focus has led to the paradigm of cluster based cooperative spectrum sensing(CBCSS). In perspective of high date rate 4th generation wireless systems, which are characterized by orthogonal frequency division multiplexing(OFDM) and spatial diversity, there is a need to devise effective SS strategies. A novel CBCSS scheme is proposed for OFDM subcarrier detection in order to enable the non-contiguous OFDM(NC-OFDM) at the physical layer of CRs for efficient utilization of spectrum holes. Proposed scheme is based on the energy detection in MIMO CR network, using equal gain combiner as diversity combining technique, hard combining(AND, OR and Majority) rule as data fusion technique and antenna diversity based weighted clustering as virtual sub clustering algorithm. Results of proposed CBCSS are compared with conventional CBCSS scheme for AND, OR and Majority data fusion rules. Moreover the effects of antenna diversity, cooperation and cooperating clusters are also discussed.

Kernel fuzzy c-means clustering on energy detection based cooperative spectrum sensing

Cooperation in spectral sensing （SS） offers a fast and reliable detection of primary user （PU） transmission over a frequency spectrum at the expense of increased energy consumption. Since the fusion center （FC） has to handle a large set of data, a duster based approach, specifically fuzzy c-means clustering （FCM）, has been extensively used in energy detection based cooperative spectrum sensing （CSS）. However, the performance of FCM degrades at low signal-to-noise ratios （SNR） and in the presence of multiple PUs as energy data patterns at the FC are often found to be non-spherical i.e. overlapping. To address the problem, this work explores the scope of kernel fuzzy c-means （KFCM） on energy detection based CSS through the projection of non-linear input data to a high dimensional feature space. Extensive simulation results are shown to highlight the improved detection of multiple PUs at low SNR with low energy consumption. An improvement in the detection probability by ～6.78% and ～6.96% at -15 dBW and -20 dBW, respectively, is achieved over the existing FCM method.

Optimization of sensing time and cooperative user allocation for OR-rule cooperative spectrum sensing in cognitive radio network

In order to improve the throughput of cognitive radio(CR), optimization of sensing time and cooperative user allocation for OR-rule cooperative spectrum sensing was investigated in a CR network that includes multiple users and one fusion center. The frame structure of cooperative spectrum sensing was divided into multiple transmission time slots and one sensing time slot consisting of local energy detection and cooperative overhead. An optimization problem was formulated to maximize the throughput of CR network, subject to the constraints of both false alarm probability and detection probability. A joint optimization algorithm of sensing time and number of users was proposed to solve this optimization problem with low time complexity. An allocation algorithm of cooperative users was proposed to preferentially allocate the users to the channels with high utilization probability. The simulation results show that the significant improvement on the throughput can be achieved through the proposed joint optimization and allocation algorithms.

Cooperative Spectrum Sensing Techniques in Cognitive Radio

Cognitive radio has become an effective theory to solve the inefficiency of the spectrum usage. One of the main requirements of cognitive radio systems is the ability to reliably detect the spectrum hole. Previous works on the problem of detection for cognitive radio have suggested the necessity of user cooperation to enable the detection at the low signal-to-noise ratios experienced in practical situations. This paper introduces energy sensing and the cooperative sensing techniques: AND model, OR model, counting model, double threshold model, likelihood ratio model, linear cooperation model and DWCS model. It is proved that significant cooperative gain can be achieved by the proposed models in reducing interference and improving spectrum usage.

Cooperative Spectrum Sensing in Cognitive Radio Using Bayesian Updating with Multiple Observations

We study cooperative spectrum sensing in cognitive radio (CR) networks using the hidden Markov model (HMM) for opportunistic spectrum access (OSA). We assume that the primary channel operates in a time division multiple address (TDMA) manner. Thus, spectrum sensing is operating in a slot-by-slot basis. In contrast to the conventional Bayesian updating using only one observation, in this work, we propose to perform the update in a concatenated fashion with all the observations available from the secondary users (SUs). In the proposed scheme, a predefined threshold on the belief is used for determining the channel activity. With the threshold, the proposed scheme is more flexible in the system operation than the simple majority vote scheme, in which no such threshold is available. We compare, by simulations, the performance of the proposed concatenated update scheme with that of the majority vote scheme and show that the probabilities of correctly detecting a busy state and an idle state are about 1 as the number of SUs is as large as 15, so the effects of the further increase in the number of SUs are limited.

A Robust Cooperative Spectrum Sensing Scheme in Cognitive Radio Systems

Performance of cluster-based cooperative spectrum sensing is more greatly improved than that of the traditional cooperative spectrum sensing. However, the style of clusters is not pointed out on traditional cluster-based method. In view of all the fading in the cooperative spectrum sensing, space diversity, and selective diversity, a robust cooperative spectrum sensing scheme based on clusters is proposed. Simulation results show that the detection performance of this new scheme is more close to that of the ideal cluster-based cooperative spectrum sensing scheme, and the excellent performance with higher reliability is gained relative to the actual cluster-based cooperative spectrum sensing scheme. Finally, the number of users in a cluster of the proposed scheme is discussed. The two users in a cluster are not the optimal solution to the overall implementation of cognitive radio.

SNR WALL AND COOPERATIVE SPECTRUM SENSING IN COGNITIVE RADIO UNDER NOISE UNCERTAINTY

Cooperative energy spectrum sensing has been proved effective to detect the spectrum holes in Cognitive Radio(CR).However,its performance may suffer from the noise uncertainty,which is portrayed by the SNR wall in some literatures.In this paper we analyze the spectrum sensing per-formance under noise uncertainty and find an alternative approach to obtain the SNR wall.Then the average SNR wall is proposed to illustrate the statistically average impact of noise uncertainty.In addition,the cooperative sensing performance under noise uncertainty with AND rule is discussed.Analyses and numerical results show that cooperative sensing can significantly improve the sensing performance under the condition of noise uncertainty.

OPTIMIZATION OF MULTIPLE-CHANNEL COOPERATIVE SPECTRUM SENSING WITH DATA FUSION RULE IN COGNITIVE RADIO NETWORKS

This paper focuses on multi-channel Cooperative Spectrum Sensing (CSS) where Secondary Users (SUs) are assigned to cooperatively sense multiple channels simultaneously. A multi-channel CSS optimization problem of joint spectrum sensing and SU assignment based on data fusion rule is formulated, which maximizes the total throughput of the Cognitive Radio Network (CRN) subject to the constraints of probabilities of detection and false alarm. To address the optimization problem, a Branch and Bound (BnB) algorithm and a greedy algorithm are proposed to obtain the optimal solutions. Simulation results are presented to demonstrate the effectiveness of our proposed algorithms and show that the throughput improvement is achieved through the joint design. It is also shown that the greedy algorithm with a low complexity achieves the comparable performance to the exhaustive algorithm.

A game-theory approach against Byzantine attack in cooperative spectrum sensing

In order to solve the Byzantine attack problem in cooperative spectrum sensing,a non-cooperative game-theory approach is proposed to realize an effective Byzantine defense.First,under the framework of the proposed non-cooperative game theory,the pure Byzantine attack strategy and defense strategy in cooperative spectrum sensing are analyzed from the perspective of the Byzantine attacker and network administrator.The cost and benefit of the pure strategy on both sides are defined. Secondly,the mixed attack and defense strategy are also derived. The closed form Nash equilibrium is obtained by the Lemke-Howson algorithm. Furthermore,the impact of the benefit ratio and penalty rate on the dynamic process of the noncooperative game is analyzed. Numerical simulation results show that the proposed game-theory approach can effectively defend against the Byzantine attack and save the defensive cost.

Cooperative Spectrum Sensing Based on Centralized Double Threshold in MCN

Cooperative spectrum sensing appears popular currently due to its ability to solve the issue of hidden terminal and improve detection performance in Cognitive Radio Networks. Meanwhile, double threshold based energy detector has attracted much attention for its low computational complexity and superior performance. Motivated by this, a cooperative spectrum sensing scheme is proposed in this paper based on centralized double threshold in the maritime communication networks(MCN), where the energy value of received signal in each cognitive node is forwarded to the fusion center for final decision based on double thresholds. Additionally, the proposed scheme is further optimized for the decisions that the energy is within the scope of maximum threshold and minimum threshold. Simulation experiments verify the performance of the proposed method.