Abstract: A method for mapping an environment by an electronic device is described. The method includes obtaining a set of sensor measurements. The method also includes determining a set of voxel occupancy probability distributions respectively corresponding to a set of voxels based on the set of sensor measurements. Each of the voxel occupancy probability distributions represents a probability of occupancy of a voxel over a range of occupation densities. The range includes partial occupation densities.

Abstract: A method of motion planning for an agent to reach a target includes determining a frontier region between a frontier at a current time and a frontier at a next time. Waypoints are sampled in the frontier region with a bias toward the target. A path to reach the target is selected based on a sequence of the sampled waypoints.

Abstract: A method of calculating a most likely map based on batch data includes gathering a corpus of sensor measurements indexed by a location of a sensor throughout an environment to be mapped. The method also includes determining, after gathering the corpus of sensor measurements, a most likely occupancy level of each voxel of multiple voxels of the environment in accordance with the corpus of sensor measurements and a stochastic sensor model. The method further includes calculating the most likely map based on the determined most likely occupancy level.

Abstract: A method for defining a sensor model includes determining a probability of obtaining a measurement from multiple potential causes in a field of view of a sensor modeled based on a stochastic map. The stochastic map includes a mean occupancy level for each voxel in the stochastic map and a variance of the mean occupancy level for each pixel. The method also includes determining a probability of obtaining an image based on the determined probability of obtaining the measurement. The method further includes planning an action for a robot, comprising the sensor, based on the probability of obtaining the image.

Abstract: A method substantially simultaneously plans a path and maps an environment by a robot. The method determines a mean of an occupancy level for a location in a map. The method also includes determining a probability distribution function (PDF) of the occupancy level. The method further includes calculating a cost function based on the PDF. Finally, the method includes simultaneously planning the path and mapping the environment based on the cost function.

Abstract: A method for generating a map includes determining an occupancy level of each of multiple voxels. The method also includes determining a probability distribution function (PDF) of the occupancy level of each voxel. The method further includes performing an incremental Bayesian update on the PDF to generate the map based on a measurement performed after determining the PDF.

Abstract: Aspects of the present disclosure relate to techniques for activating opportunistic relays. A combination of uplink and downlink pilots may be used to switch on user equipment relays (UeNBs) in an effort to make more accurate measurements in an effort to enable handovers. According to aspects of the present disclosure, a relay may evaluate one or more channel conditions, determine whether or not to transmit downlink reference signals to a UE based on the evaluation, and transmit downlink reference signals to the UE based on the determination. According to aspects, a relay may determine a set of resources reserved for transmission of uplink pilots by UEs, monitor the set of resources to detect transmission of uplink pilots, and report, to an eNB, a power at which the uplink pilots were received.

Abstract: Systems and methods for dynamic bandwidth management for load-based equipment in unlicensed spectrum are disclosed. In an aspect, the disclosure provides a method for dynamic bandwidth management. The method includes obtaining training data by monitoring a plurality of channels in an unlicensed spectrum during a training period. The method further includes determining that at least a first channel of the plurality of channels is available for a transmission. The method also includes determining, based on the training data, whether to wait for an additional channel of the plurality of channels to become available for the transmission. Determining whether to wait may be based on either training data including probabilities that no additional channel is to become available within a transmission opportunity or a machine learning classification of a current state of the backoff counters based on training data including samples of previous states of backoff counters.

Abstract: Methods and apparatuses are described for wireless communications in which various association schemes may be performed for a machine type communication (MTC) device. In a long-term evolution (LTE) heterogeneous network, the MTC device may associate with a macro cell or a small cell using a narrowband MTC channel supported by the cells. Information about the MTC channel, including its frequency spectrum, may be transmitted to the MTC device using reserved bits in a physical broadcast channel (PBCH). Once the MTC device identifies the MTC channel, it may communicate with one or more cells during a frame or during a sub-frame. The MTC device may determine channel metrics of the cells from the MTC communication and may identify a cell with which to associate from the channel metrics. The association may be to a best downlink cell or a best uplink cell based on the operating profile of the MTC device.

Abstract: Certain aspects provide a method for wireless communications by a first access point, comprising determining a first schedule of intervals for the first access point to communicate with a first group of one or more wireless devices, wherein intervals of the first schedule are synchronized with wake up or transmission cycles of the first group of one or more wireless devices and communicating with the first group of one or more wireless devices according to the first schedule.

Abstract: Aspects of the present disclosure relate to techniques for activating opportunistic relays. A combination of uplink and downlink pilots may be used to switch on user equipment relays (UeNBs) in an effort to make more accurate measurements in an effort to enable handovers. According to aspects of the present disclosure, a relay may evaluate one or more channel conditions, determine whether or not to transmit downlink reference signals to a UE based on the evaluation, and transmit downlink reference signals to the UE based on the determination. According to aspects, a relay may determine a set of resources reserved for transmission of uplink pilots by UEs, monitor the set of resources to detect transmission of uplink pilots, and report, to an eNB, a power at which the uplink pilots were received.