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Mohamed Ibrahim

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Networking and Internet Architecture Computer Vision cs.CY eess.SY Information Theory math.DS math.IT Robotics Systems and Control

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preprint2026arXiv

VkSplat: High-Performance 3DGS Training in Vulkan Compute

We present VkSplat, a high-performance, cross-vendor 3D Gaussian Splatting (3DGS) training pipeline implemented fully in Vulkan compute, addressing performance and compatibility limitation of existing training pipelines. With various optimizations, we achieve $3.3\times$ speed and $33\%$ VRAM reduction over CUDA+PyTorch baseline, maintaining quality, and demonstrating compatibility across GPU vendors. To the best of our knowledge, this is the first fully-Vulkan-based 3DGS training pipeline that achieves state-of-the-art performance. Code: \href{https://github.com/harry7557558/vksplat}{https://github.com/harry7557558/vksplat}

preprint2022arXiv

Safe Hierarchical Model Predictive Control and Planning for Autonomous Systems

Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration of control and planning to guarantee safety. We propose an integrated hierarchical predictive control and planning approach to tackle this challenge. Planner and controller are based on the repeated solution of moving horizon optimal control problems. The planner can choose different low-layer controller modes for increased flexibility and performance instead of using a single controller with a large safety margin for collision avoidance under uncertainty. Planning is based on simplified system dynamics and safety, yet flexible operation is ensured by constraint tightening based on a mixed-integer linear programming formulation. A cyclic horizon tube-based model predictive controller guarantees constraint satisfaction for different control modes and disturbances. Examples of such modes are a slow-speed movement with high precision and fast-speed movements with large uncertainty bounds. Allowing for different control modes reduces the conservatism, while the hierarchical decomposition of the problem reduces the computational cost and enables real-time implementation. We derive conditions for recursive feasibility to ensure constraint satisfaction and obstacle avoidance to guarantee safety and ensure compatibility between the layers and modes. Simulation results illustrate the efficiency and applicability of the proposed hierarchical strategy.

preprint2016arXiv

Design and Analysis of Compressive Antenna Arrays for Direction of Arrival Estimation

In this paper we investigate the design of compressive antenna arrays for direction of arrival (DOA) estimation that aim to provide a larger aperture with a reduced hardware complexity by a linear combination of the antenna outputs to a lower number of receiver channels. We present a basic receiver architecture of such a compressive array and introduce a generic system model that includes different options for the hardware implementation. We then discuss the design of the analog combining network that performs the receiver channel reduction, and propose two design approaches. The first approach is based on the spatial correlation function which is a low-complexity scheme that in certain cases admits a closed-form solution. The second approach is based on minimizing the Cramer-Rao Bound (CRB) with the constraint to limit the probability of false detection of paths to a pre-specified level. Our numerical simulations demonstrate the superiority of the proposed optimized compressive arrays compared to the sparse arrays of the same complexity and to compressive arrays with randomly chosen combining kernels.

preprint2013arXiv

Towards Dynamic Real-Time Geo-location Databases for TV White Spaces

Recent FCC regulations on TV white spaces allow geo-location databases to be the sole source of spectrum information for White Space Devices (WSDs). Geo-location databases protect TV band incumbents by keeping track of TV transmitters and their protected service areas based on their location, transmission parameters and sophisticated propagation models. In this article, we argue that keeping track of both TV transmitters and TV receivers (i.e. TV sets) can achieve significant improvement in the availability of white spaces. We first identify wasted spectrum opportunities, both temporal and spatial, due to the current approach of white spaces detection. We then propose DynaWhite, a cloud-based architecture that orchestrates the detection and dissemination of highly-dynamic, real-time, and fine-grained TV white space information. DynaWhite introduces the next generation of geo-location databases by combining traditional sensing techniques with a novel unconventional sensing approach based on the detection of the passive TV receivers using standard cell phones. We present a quantitative evaluation of the potential gains in white space availability for large scale deployments of DynaWhite. We finally identify challenges that need to be addressed in the research community in order to exploit this potential for leveraging dynamic real-time fine-grained TV white spaces.

preprint2013arXiv

Unconventional TV Detection using Mobile Devices

Recent studies show that the TV viewing experience is changing giving the rise of trends like "multi-screen viewing" and "connected viewers". These trends describe TV viewers that use mobile devices (e.g. tablets and smart phones) while watching TV. In this paper, we exploit the context information available from the ubiquitous mobile devices to detect the presence of TVs and track the media being viewed. Our approach leverages the array of sensors available in modern mobile devices, e.g. cameras and microphones, to detect the location of TV sets, their state (ON or OFF), and the channels they are currently tuned to. We present the feasibility of the proposed sensing technique using our implementation on Android phones with different realistic scenarios. Our results show that in a controlled environment a detection accuracy of 0.978 F-measure could be achieved.

preprint2011arXiv

CellSense: An Accurate Energy-Efficient GSM Positioning System

Context-aware applications have been gaining huge interest in the last few years. With cell phones becoming ubiquitous computing devices, cell phone localization has become an important research problem. In this paper, we present CellSense, a prob- abilistic RSSI-based fingerprinting location determi- nation system for GSM phones. We discuss the chal- lenges of implementing a probabilistic fingerprinting localization technique in GSM networks and present the details of the CellSense systemand how it addresses these challenges. We then extend the proposed system using a hybrid technique that combines probabilistic and deterministic estimation to achieve both high ac- curacy and low computational overhead.Moreover, the accuracy of the hybrid technique is robust to changes in its parameter values. To evaluate our proposed system, we implemented CellSense on Android-based phones. Results from two different testbeds, represent- ing urban and rural environments, for three differ- ent cellular providers show that CellSense provides at least 108.57% enhancement in accuracy in rural areas and at least 89.03% in urban areas compared to the current state of the art RSSI-based GSM localization systems. In additional, the proposed hybrid technique provides more than 6 times and 5.4 times reduction in computational requirements compared to the state of the art RSSI-based GSM localization systems for the rural and urban testbeds respectively.We also evaluate the effect of changing the different system parameters on the accuracy-complexity tradeoff and how the cell towers density and fingerprint density affect the system performance.

preprint2010arXiv

A Hidden Markov Model for Localization Using Low-End GSM Cell Phones

Research in location determination for GSM phones has gained interest recently as it enables a wide set of location based services. RSSI-based techniques have been the preferred method for GSM localization on the handset as RSSI information is available in all cell phones. Although the GSM standard allows for a cell phone to receive signal strength information from up to seven cell towers, many of today's cell phones are low-end phones, with limited API support, that gives only information about the associated cell tower. In addition, in many places in the world, the density of cell towers is very small and therefore, the available cell tower information for localization is very limited. This raises the challenge of accurately determining the cell phone location with very limited information, mainly the RSSI of the associated cell tower. In this paper we propose a Hidden Markov Model based solution that leverages the signal strength history from only the associated cell tower to achieve accurate GSM localization. We discuss the challenges of implementing our system and present the details of our system and how it addresses the challenges. To evaluate our proposed system, we implemented it on Androidbased phones. Results for two different testbeds, representing urban and rural environments, show that our system provides at least 156% enhancement in median error in rural areas and at least 68% enhancement in median error in urban areas compared to current RSSI-based GSM localization systems