Results are presented for an adiabatic quantum algorithm to compute low peak sidelobe binary and unimodular codes on a D-Wave 2 quantum computer. The quantum algorithm is benchmarked against a conventional genetic algorithm (GA). The quantum algorithm shows roughly a 100 times speedup relative to the GA for binary codes longer that 100 bits and is capable of producing low sidelobe binary codes up to length 426 on the current D-Wave 2 hardware. Results are presented for Doppler tolerant binary and quad-phase codes computed using the same quantum algorithm.
We propose a methodology of applying PoMDPs at a sufficiently high abstraction of a high-dimensional continuoustime partially observable hybrid system. In particular, we develop a two-layer hybrid controller, where the higher-level PoMDP-based hybrid controller learns the boundaries between various modes and appropriately switches between them. The modes partition the state-space and represent a closed-loop hybrid system with a lower-level hybrid controller. We apply this methodology onto the problem of bipedal walking on varying terrain, where the gradient change in the terrain is only partially observable (due to poor and noisy sensors.) We develop three lower-level hybrid controllers that result in robust walking on level ground, up and down ramps. The higher-level PoMDP-based hybrid controller then learns the boundary between these controllers and is used to perform appropriate controller switching. With only a coarse, discrete estimate of walking speed, the controller enables traversing terrain both with long sustained constant slopes, and with rapid changes in slope. Simulation results are presented on a 26-dimensional planar bipedal robot model that incorporates contact forces and friction.
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