In this work, a deep learning-based quantization scheme for log-likelihood ratio (L-value) storage is introduced. We analyze the dependency between the average magnitude of different L-values from the same quadrature amplitude modulation (QAM) symbol and show they follow a consistent ordering. Based on this we design a deep autoencoder that jointly compresses and separately reconstructs each L-value, allowing the use of a weighted loss function that aims to more accurately reconstructs low magnitude inputs. Our method is shown to be competitive with state-of-the-art maximum mutual information quantization schemes, reducing the required memory footprint by a ratio of up to two and a loss of performance smaller than 0.1 dB with less than two effective bits per L-value or smaller than 0.04 dB with 2.25 effective bits. We experimentally show that our proposed method is a universal compression scheme in the sense that after training on an LDPC-coded Rayleigh fading scenario we can reuse the same network without further training on other channel models and codes while preserving the same performance benefits.

Goal-directed path planning is one of the basic and widely studied problems in the field of mobile robotics. Homotopy classes of trajectories, arising due to the presence of obstacles, are defined as sets of trajectories that can be transformed into each other by gradual bending and stretching without colliding with obstacles. The problem of finding least-cost paths restricted to a specific homotopy class or finding least-cost paths that do not belong to certain homotopy classes arises frequently in such applications as predicting paths for dynamic entities and computing heuristics for path planning with dynamic constraints. In the present work, we develop a compact way of representing homotopy classes and propose an efficient method of graph search-based optimal path planning with constraints on homotopy classes. The method is based on representing the environment of the robot as a complex plane and making use of the Cauchy Integral Theorem. We prove optimality of the method and show its efficiency experimentally.

Goal-directed path planning is one of the basic and widely studied problems in the field of mobile robotics. Homotopy classes of trajectories, arising due to the presence of obstacles, are defined as sets of trajectories that can be transformed into each other by gradual bending and stretching without colliding with obstacles. The problem of finding least-cost paths restricted to a specific homotopy class or finding least-cost paths that do not belong to certain homotopy classes arises frequently in such applications as predicting paths for dynamic entities and computing heuristics for path planning with dynamic constraints. In the present work, we develop a compact way of representing homotopy classes and propose an efficient method of graph search-based optimal path planning with constraints on homotopy classes. The method is based on representing the environment of the robot as a complex plane and making use of the Cauchy Integral Theorem. We prove optimality of the method and show its efficiency experimentally.