Reconfigurable Holographic Surface-Assisted Radio Simultaneous Localization and Mapping (SLAM) With Leakage Power Constraints

Radio simultaneously localization and mapping (SLAM) is indispensable for a wide range of wireless applications owing to its ability to provide both location and mapping information. Traditional radio SLAM systems use fixed-aperture antennas with invariant beamwidths, which cannot adapt to the varying requirements for beam gain and coverage in complex environments. In this paper, we propose an aperture-changeable reconfigurable holographic surface (RHS)-assisted SLAM system. By deactivating different numbers of RHS elements, the equivalent antenna aperture is changeable, leading to adaptive beamwidths across detection directions. However, the RHS should follow the leakage power constraint, which stipulates that the total radiated power of RHS elements cannot exceed the input power. Its impact on the elements’ radiated power makes the optimization of RHS equivalent aperture challenging. To address this issue, we formulate a detection probability maximization problem and then adopt a two-step decomposition method to solve it. In the first step, we relax the leakage power constraint to obtain a relaxed solution. In the second step, we refine the relaxed solution by incorporating the leakage power constraint. We analyze the impact of RHS equivalent aperture and leakage power constraint on the SLAM system and evaluate the complexity of the proposed algorithm. Simulation results demonstrate that the proposed SLAM system can effectively reduce agent localization error compared with benchmark schemes.