1. A. Khan, V. Kumar and A. Ribeiro, ”Large Scale Distributed Collaborative Unlabeled Motion Planning With Graph Policy Gradients,” IEEE Robotics and Automation Letters 6(3):5340-5347. July 2021.
  1. Z. Wang, M. Eisen and A. Ribeiro, ”Learning Decentralized Wireless Resource Allocations with Graph Neural Networks,” (submitted). July 2021.
  1. Z. Gao, F. Gama and A. Ribeiro, ”Wide and Deep Graph Neural Network with Distributed Online Learning,” IEEE Transactions on Signal Processing (submitted). July 2021.
  1. T. K. Hu, F. Gama, T. Chen, W. Zheng, Z. Wang, A. Ribeiro and B. M. Sadler, ”Scalable Perception-Action-Communication Loops with Convolutional and Graph Neural Networks,” IEEE Transactions on Signal and Information Processing over Networks (submitted). June 2021.
  1. G. Leus, S. Segarra, A. Ribeiro and A. G. Marques, ”The Dual Graph Shift Operator: Identifying the Support of the Frequency Domain,” Journal of Fourier Analysis and Applications 27(3):1-20. May 2021.
  1. Z. Gao, E. Isufi and A. Ribeiro, ”Stochastic Graph Neural Networks,” IEEE Transactions on Signal Processing . June 2021.
  1. L. F. O. Chamon, S. Paternain, M. Calvo-Fullana and A. Ribeiro, ”Constrained Learning with Non-Convex Losses,” (submitted). March 2021.
  1. E. Tolstaya, L. Butler, D. Mox, J. Paulos, V. Kumar and A. Ribeiro, ”Learning Connectivity for Data Distribution in Robot Teams,” (submitted). March 2021.
  1. Z. Wang, L. Ruiz and A. Ribeiro, ”Stability of Neural Networks on Riemannian Manifolds,” (submitted). March 2021.
  1. M. Calvo-Fullana, S. Paternain, L. F. O. Chamon and A. Ribeiro, ”State Augmented Constrained Reinforcement Learning: Overcoming the Limitations of Learning with Rewards,” IEEE Transactions on Automatic Control (submitted). February 2021.
  1. M. Calvo-Fullana, A. Pyattaev, D. Mox, Sergey Andreev and A. Ribeiro, ”Communications and Robotics Simulation in UAVs: A Case Study on Aerial Synthetic Aperture Antennas,” IEEE Communications Magazine 59(1):22-27. February 2021.
  1. L. Ruiz, F. Gama and A. Ribeiro, ”Graph Neural Networks: Architectures, Stability, and Transferability,” Procedings of the IEEE 109(5):660-682. February 2021.
  1. C. Zhang, S. Paternain and A. Ribeiro, ”Sufficiently Accurate Model Learning for Planning,” (submitted). February 2021.
  1. M. Calvo-Fullana, D. Mox, A. Pyattaev, J. Fink, V. Kumar and A. Ribeiro, ”ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators,” IEEE Robotics and Automation Letters 6(2):1120-1127. February 2021.
  1. Z. Gao, E. Isufi and A. Ribeiro, ”Stability of Graph Convolutional Neural Networks to Stochastic Perturbations,” EURASIP Journal on Signal Processing 188:108216. June 2021.
  1. F. Gama, Q. Li, E. Tolstaya, A. Prorok and A. Ribeiro, ”Decentralized Control with Graph Neural Networks,” IEEE Transactions on Signal Processing (submitted). December 2020.
  1. L. F. O. Chamon, S. Paternain and A. Ribeiro, ”Trust but Verify: Assigning Prediction Credibility by Counterfactual Constrained Learning,” (submitted). November 2020.
  1. E. Tolstaya, J. Paulos, V. Kumar and A. Ribeiro, ”Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks,” (submitted). November 2020.
  1. L. Ruiz, F. Gama and A. Ribeiro, ”Gated Graph Recurrent Neural Networks,” IEEE Transactions on Signal Processing 68:6303-6318. October 2020.
  1. D. S. Kalogerias, M. Eisen, G. J. Pappas and A. Ribeiro, ”Model-Free Learning of Optimal Ergodic Policies in Wireless Systems,” IEEE Transactions on Signal Processing 68:6272-6286. October 2020.
  1. S. Paternain, J. A. Bazerque, A. Small and A. Ribeiro, ”Stochastic Policy Gradient Ascent in Reproducing Kernel Hilbert Spaces,” IEEE Transactions on Automatic Control . October 2020.
  1. A. Koppel, G. Warnell, E. Stump, P. Stone and A. Ribeiro, ”Policy Evaluation in Continuous MDPs with Efficient Kernelized Gradient Temporal Difference,” IEEE Transactions on Automatic Control 66(4):1856-1863. October 2020.
  1. S. Paternain, J. A. Bazerque and A. Ribeiro, ”Policy Gradient for Continuing Tasks in Non-stationary Markov Decision Processes,” (submitted). October 2020.
  1. Z. Gao, F. Gama and A. Ribeiro, ”Spherical Convolutional Neural Networks: Stability to Perturbations in SO(3),” EURASIP Journal on Signal Processing (submitted). October 2020.
  1. F. Gama, J. Bruna and A. Ribeiro, ”Stability Properties of Graph Neural Networks,” IEEE Transactions on Signal Processing 68:5680-5695. September 2020.
  1. A. Mokhtari and A. Ribeiro, ”Stochastic Quasi-Newton Methods,” Procedings of the IEEE 108(11):1906-1922. September 2020.
  1. M. Peifer and A. Ribeiro, ”Federated Classification using Parsimonious Functions in Reproducing Kernel Hilbert Spaces,” (submitted). September 2020.
  1. V. Lima, M. Eisen, K. Gatsis and A. Ribeiro, ”Model-Free Design of Control Systems over Wireless Fading Channels,” IEEE Transactions on Signal Processing (submitted). September 2020.
  1. A. Parada-Mayorga and A. Ribeiro, ”Algebraic Neural Networks: Stability to Deformations,” IEEE Transactions on Signal Processing 69:3351-3366. September 2020.
  1. Juan Cervino, J. A. Bazerque, M. Calvo-Fullana and A. Ribeiro, ”Multi-task Reinforcement Learning in Reproducing Kernel Hilbert Spaces via Cross-learning,” IEEE Transactions on Signal Processing (submitted). August 2020.
  1. M. Calvo-Fullana, C. Anton-Haro, J. Matamoros and A. Ribeiro, ”Random Access Communication for Wireless Control Systems with Energy Harvesting Sensors,” IEEE Transactions on Signal Processing 68:3961-3975. July 2020.
  1. Z. Gao, M. Eisen and A. Ribeiro, ”Resource Allocation via Model-Free Deep Learning in Free Space Optical Communications,” (submitted). July 2020.
  1. S. Paternain, S. Lee, M. M. Zavlanos and A. Ribeiro, ”Distributed Constrained Online Learning,” IEEE Transactions on Signal Processing 68:3486-3499. June 2020.
  1. H. Kumar, D. S. Kalogerias, G. J. Pappas and A. Ribeiro, ”Zeroth-order Deterministic Policy Gradient,” (submitted). June 2020.
  1. A. Khan, A. Ribeiro, V. Kumar and A. Francis, ”Graph Neural Networks for Motion Planning,” Journal on Machine Learning Research . June 2020.
  1. A. Mokhtari, A. Koppel, M. Takac and A. Ribeiro, ”A Class of Parallel Doubly Stochastic Algorithms for Large-Scale Learning,” Journal on Machine Learning Research 21(120):1-51. June 2020.
  1. S. Paternain and A. Ribeiro, ”Stochastic Artificial Potentials for Online Safe Navigation,” IEEE Transactions on Automatic Control 65(5):1985-2000. May 2020.
  1. F. Gama, A. G. Marques, G. Mateos and A. Ribeiro, ”Rethinking Sketching as Sampling: A Graph Signal Processing Approach,” EURASIP Journal on Signal Processing 169:107404. April 2020.
  1. M. Eisen and A. Ribeiro, ”Optimal Wireless Resource Allocation with Random Edge Graph Neural Networks,” IEEE Transactions on Signal Processing 68:2977-2991. April 2020.
  1. L. F. O. Chamon, A. Amice and A. Ribeiro, ”Approximately Supermodular Scheduling Subject to Matroid Constraints,” IEEE Transactions on Automatic Control (to appear). March 2020.
  1. E. Isufi, F. Gama and A. Ribeiro, ”EdgeNets: Edge Varying Graph Neural Networks,” Pattern Analysis and Machine Intelligence (submitted). March 2020.
  1. L. F. O. Chamon, Y. Eldar and A. Ribeiro, ”Functional Nonlinear Sparse Models,” IEEE Transactions on Signal Processing 68(1):2449-2463. March 2020.
  1. L. Ruiz, L. F. O. Chamon and A. Ribeiro, ”Graphon Signal Processing,” IEEE Transactions on Signal Processing (submitted). March 2020.
  1. F. Gama, E. Isufi, G. Leus and A. Ribeiro, ”Graphs, Convolutions, and Neural Networks: From Graph Filters to Graph Neural Networks,” IEEE Robotics and Automation Letters 37(6):128-138. March 2020.
  1. L. F. O. Chamon, G. J. Pappas and A. Ribeiro, ”Approximate supermodularity of Kalman filter sensor selection,” IEEE Transactions on Automatic Control 66(1):49-63. February 2020.
  1. M. Peifer, L. F. O. Chamon, S. Paternain and A. Ribeiro, ”Sparse Multiresolution Representations With Adaptive Kernels,” IEEE Transactions on Signal Processing 68(1):2031-2044. February 2020.
  1. L. Ruiz, F. Gama, A. G. Marques and A. Ribeiro, ”Invariance-Preserving Localized Activation Functions for Graph Neural Networks,” IEEE Transactions on Signal Processing 68:127-141. January 2020.
  1. S. Segarra, M. Eisen, G. Egan and A. Ribeiro, ”A Response to Rosalind Barber’s Critique of the Word Adjacency Method for Authorship Attribution,” American Notes and Queries . January 2020.
  1. M. Eisen, A. Mokhtari and A. Ribeiro, ”A Primal-Dual Quasi-Newton Method for Exact Consensus Optimization,” IEEE Transactions on Signal Processing 67(23):5983-5997. December 2019.
  1. F. Gama, E. Isufi, A. Ribeiro and G. Leus, ”Controllability of Bandlimited Graph Processes over Random Time Varying Networks,” IEEE Transactions on Signal Processing 67(24):6440-6454. December 2019.
  1. S. Paternain, M. Morari and A. Ribeiro, ”A Prediction-Correction Algorithm for Real-Time Model Predictive Control,” IEEE Transactions on Automatic Control (submitted). November 2019.
  1. H. Kumar, S. Paternain and A. Ribeiro, ”Navigation of a Quadratic Potential with Ellipsoidal Obstacles,” IEEE Transactions on Automatic Control (submitted). November 2019.
  1. S. Paternain, M. Calvo-Fullana, L. F. O. Chamon and A. Ribeiro, ”Safe Policies for Reinforcement Learning via Primal-Dual Methods,” IEEE Transactions on Automatic Control (submitted). November 2019.
  1. M. Eisen, M. M. Rashid, K. Gatsis, D. Cavalcanti, N. Himayat and A. Ribeiro, ”Control Aware Radio Resource Allocation in Low Latency Wireless Control Systems,” IEEE Internet of Things Journal 6(5):7878-7890. October 2019.
  1. H. Kumar, A. Koppel and A. Ribeiro, ”On the Sample Complexity of Actor-Critic Method for Reinforcement Learning with Function Approximation,” SIAM Journal on Optimization (submitted). October 2019.
  1. A. Koppel, E. Tolstaya, E. Stump and A. Ribeiro, ”Nonparametric Stochastic Compositional Gradient Descent for Q-Learning in Continuous Markov Decision Problems,” SIAM Journal on Optimization (submitted). September 2019.
  1. G. Mateos, S. Segarra, A. G. Marques and A. Ribeiro, ”Connecting the Dots: Identifying Network Structure via Graph Signal Processing,” IEEE Robotics and Automation Letters 36(3):16-43. May 2019.
  1. F. Gama and A. Ribeiro, ”Ergodicity in Stationary Graph Processes: A Weak Law of Large Numbers,” IEEE Transactions on Signal Processing 67(10):2761-2776. May 2019.
  1. Z. Shen, P. Zhou, C. Fang and A. Ribeiro, ”A Stochastic Trust Region Method for Non-convex Minimization,” (submitted). March 2019.
  1. M. Eisen, K. Gatsis, G. J. Pappas and A. Ribeiro, ”Learning in Wireless Control Systems Over Nonstationary Channels,” IEEE Transactions on Signal Processing 67(5):1123-1137. March 2019.
  1. M. Eisen, C. Zhang, L. F. O. Chamon, D. D. Lee and A. Ribeiro, ”Learning Optimal Resource Allocations in Wireless Systems,” IEEE Transactions on Signal Processing 67(10):2775-2790. March 2019.
  1. F. Gama, A. G. Marques, G. Leus and A. Ribeiro, ”Convolutional Neural Network Architectures for Signals Supported on Graphs,” IEEE Transactions on Signal Processing 67(4):1034-1049. February 2019.
  1. S. Paternain, A. Mokhtari and A. Ribeiro, ”A Newton-Based Method for Nonconvex Optimization with Fast Evasion of Saddle Points,” SIAM Journal on Optimization 29(1):343-368. January 2019.
  1. A. Koppel, G. Warnell, E. Stump and A. Ribeiro, ”Parsimonious Online Learning with Kernels via Sparse Projections in Function Space,” Journal on Machine Learning Research 20:1-44. January 2019.
  1. W. Huang, A. G. Marques and A. Ribeiro, ”Rating Prediction via Graph Signal Processing,” IEEE Transactions on Signal Processing 66(19):5066-5081. October 2018.
  1. S. Paternain, D. E. Koditschek and A. Ribeiro, ”Navigation Functions for Convex Potentials in a Space with Convex Obstacles,” IEEE Transactions on Automatic Control 63(9):2944-2959. September 2018.
  1. M. Fazlyab, S. Paternain, V. Preciado and A. Ribeiro, ”Prediction-Correction Interior-Point Method for Time-Varying Convex Optimization,” IEEE Transactions on Automatic Control 63(7):1973-1986. July 2018.
  1. F. Gama, S. Segarra and A. Ribeiro, ”Hierarchical Overlapping Clustering of Network Data,” IEEE Transactions on Signal and Information Processing over Networks 4(2):392-406. June 2018.
  1. W. Huang, T. Bolton, J. Medaglia, D. S. Bassett and D. Van De Ville, ”A Graph Signal Processing Perspective on Functional Brain Imaging,” Procedings of the IEEE 106(5):868-885. May 2018.
  1. W. Huang and A. Ribeiro, ”Hierarchical Clustering Given Confidence Intervals of Metric Distances,” IEEE Transactions on Signal Processing 66(10):2600-2615. May 2018.
  1. A. Khan, C. Zhang, D. D. Lee, V. Kumar and A. Ribeiro, ”Scalable Centralized Deep Multi-Agent Reinforcement Learning via Policy Gradients,” (submitted). May 2018.
  1. M. Calvo-Fullana, C. Anton-Haro, J. Matamoros and A. Ribeiro, ”Stochastic Routing and Scheduling Policies for Energy Harvesting Communication Networks,” IEEE Transactions on Signal Processing 66(13):3363-3376. May 2018.
  1. A. Koppel, S. Paternain, C. Richard and A. Ribeiro, ”Decentralized Online Learning With Kernels,” IEEE Transactions on Signal Processing 66(12):3240-3255. April 2018.
  1. C. Eksin and A. Ribeiro, ”Distributed Fictitious Play for Multiagent Systems in Uncertain Environments,” IEEE Transactions on Automatic Control 63(4):1177-1184. April 2018.
  1. B. Swenson, C. Eksin, S. Kar and A. Ribeiro, ”Distributed Inertial Best-Response Dynamics,” IEEE Transactions on Automatic Control 63(12):4294-4300. April 2018.
  1. J. Medaglia, W. Huang, E. A. Karuza, A. Kelkar, S. Thompson-Schill, A. Ribeiro and D. S. Bassett, ”Functional alignment with anatomical networks is associated with cognitive flexibility,” Nature Human Behavior 2:156–164. February 2018.
  1. A. Mokhtari, M. Gurbuzbalaban and A. Ribeiro, ”Surpassing Gradient Descent Provably: A Cyclic Incremental Method with Linear Convergence Rate,” SIAM Journal on Optimization 28(2):1420–1447. February 2018.
  1. C. Eksin, H. Delic and A. Ribeiro, ”Demand Response with Communicating Rational Consumers,” Transactions on Smart Grid 9(1):469-482. January 2018.
  1. L. F. O. Chamon and A. Ribeiro, ”Greedy Sampling of Graph Signals,” IEEE Transactions on Signal Processing 66(1):34-47. January 2018.
  1. W. Huang and A. Ribeiro, ”Network Comparison: Embeddings and Interiors,” IEEE Transactions on Signal Processing 66(2):412-427. January 2018.
  1. G. Carlsson, F. Memoli, A. Ribeiro and S. Segarra, ”Admissible Hierarchical Clustering Methods and Algorithms for Asymmetric Networks,” IEEE Transactions on Signal and Information Processing over Networks 3(4):711-727. December 2017.
  1. M. Eisen, A. Ribeiro, S. Segarra and G. Egan, ”Stylometric Analysis of Early Modern Period English plays,” Digital Scholarship in the Humanities 33(3):500–528. December 2017.
  1. M. Fazlyab, A. Koppel, A. Ribeiro and V. Preciado, ”A variational approach to dual methods for constrained convex optimization,” IEEE Transactions on Automatic Control (submitted). November 2017.
  1. A. Simonetto, A. Koppel, A. Mokhtari, G. Leus and A. Ribeiro, ”Decentralized Prediction-Correction Methods for Networked Time-Varying Convex Optimization,” IEEE Transactions on Automatic Control 62(11):5724-5738. November 2017.
  1. G. Carlsson, F. Memoli, A. Ribeiro and S. Segarra, ”Hierarchical clustering of asymmetric networks,” Advances in Data Analysis and Classification 12(1):65-105. November 2017.
  1. A. G. Marques, S. Segarra, G. Leus and A. Ribeiro, ”Stationary Graph Processes and Spectral Estimation,” IEEE Transactions on Signal Processing 65(22):5911-5926. November 2017.
  1. J. Stephan, J. Fink, V. Kumar and A. Ribeiro, ”Concurrent Control of Mobility and Communication in Multirobot Systems,” Transactions on Robotics 33(5):1248-1254. October 2017.
  1. J. Medaglia, W. Huang, S. Segarra, C. Olm, J. Gee, M. Grossman, A. Ribeiro, C. McMillan and D. S. Bassett, ”Brain network efficiency is influenced by the pathologic source of corticobasal syndrome,” Neurology 89(13):1373-1381. September 2017.
  1. S. Segarra, A. G. Marques, G. Mateos and A. Ribeiro, ”Network Topology Inference from Spectral Templates,” IEEE Transactions on Signal and Information Processing over Networks 3(3):467-483. September 2017.
  1. S. Segarra, A. G. Marques and A. Ribeiro, ”Optimal Graph-Filter Design and Applications to Distributed Linear Network Operators,” IEEE Transactions on Signal Processing 65(15):4117-4131. August 2017.
  1. S. Paternain and A. Ribeiro, ”Online Learning of Feasible Strategies in Unknown Environments,” IEEE Transactions on Automatic Control 62(6):2807-2822. June 2017.
  1. T. Chen, A. Mokhtari, X. Wang, A. Ribeiro and G. B. Giannakis, ”Stochastic Averaging for Constrained Optimization with Application to Online Resource Allocation,” IEEE Transactions on Signal Processing 65(12):3078-3093. June 2017.
  1. M. Eisen, A. Mokhtari and A. Ribeiro, ”Decentralized Quasi-Newton Methods,” IEEE Transactions on Signal Processing 65(10):2613-2628. May 2017.
  1. S. Segarra, G. Mateos, A. G. Marques and A. Ribeiro, ”Blind Identification of Graph Filters,” IEEE Transactions on Signal Processing 65(5):1146-1159. March 2017.
  1. A. Koppel, B. M. Sadler and A. Ribeiro, ”Proximity Without Consensus in Online Multiagent Optimization,” IEEE Transactions on Signal Processing 65(12):3062-3077. March 2017.
  1. A. Koppel, G. Warnell, E. Stump and A. Ribeiro, ”D4L: Decentralized Dynamic Discriminative Dictionary Learning,” IEEE Transactions on Signal and Information Processing over Networks 3(4):728-743. February 2017.
  1. A. Mokhtari, M. Eisen and A. Ribeiro, ”IQN: An Incremental Quasi-Newton Method with Local Superlinear Convergence Rate,” SIAM Journal on Optimization 28(2):1670–1698. February 2017.
  1. A. Mokhtari, Q. Ling and A. Ribeiro, ”Network Newton Distributed Optimization Methods,” IEEE Transactions on Signal Processing 65(1):146-161. January 2017.
  1. W. Huang and A. Ribeiro, ”Persistent Homology Lower Bounds on High-Order Network Distances,” IEEE Transactions on Signal Processing 65(2):319-334. January 2017.
  1. A. Ribeiro, ”Optimal Resource Allocation in Wireless Communication and Networking,” EURASIP Journal on Wireless Communications and Networking 2012:272. December 2012.
  1. A. Ribeiro, N. Sidiropoulos and G. B. Giannakis, ”Optimal Distributed Stochastic Routing Algorithms for Wireless Multihop Networks,” IEEE Transactions on Wireless Communications 7(11):4261-4272. November 2008.
  1. E. Msechu, S. Roumeliotis, A. Ribeiro and G. B. Giannakis, ”Decentralized Quantized Kalman Filtering with Scalable Communication Cost,” IEEE Transactions on Signal Processing 56(8):3727-3741. August 2008.
  1. A. Cano Pleite, T. Wang, A. Ribeiro and G. B. Giannakis, ”Link-Adaptive Distributed Coding for Multi-Source Cooperation,” EURASIP Journal on Advances in Signal Processing 2008(2):1:12. June 2008.
  1. I. Schizas, G. B. Giannakis, S. Roumeliotis and A. Ribeiro, ”Consensus in Ad Hoc WSNs with Noisy Links – Part II: Distributed Estimation and Smoothing of Random Signals,” IEEE Transactions on Signal Processing 56(4):1650-1666. April 2008.
  1. I. Schizas, A. Ribeiro and G. B. Giannakis, ”Consensus in Ad Hoc WSNs with Noisy Links – Part I: Distributed Estimation of Deterministic Signals,” IEEE Transactions on Signal Processing 56(1):350-364. January 2008.
  1. A. Ribeiro, N. Sidiropoulos, G. B. Giannakis and Y. Yu, ”Achieving Wireline Random Access Throughput in Wireless Networking via User Cooperation,” IEEE Transactions on Information Theory 53(2):732-758. February 2007.
  1. A. Ribeiro, R. Wang and G. B. Giannakis, ”Multi-Source Cooperation with Full-Diversity Spectral-Efficiency and Controllable-Complexity,” IEEE Journal on Selected Areas in Communications 25(2):415-425. February 2007.
  1. A. Ribeiro, G. B. Giannakis and S. Roumeliotis, ”SOI-KF: Distributed Kalman Filtering with Low-Cost Communications Using the Sign of Innovations,” IEEE Transactions on Signal Processing 54(12):4782-4795. December 2006.
  1. A. Ribeiro, X. Cai and G. B. Giannakis, ”Opportunistic Multipath for Bandwidth-Efficient Cooperative Multiple Access,” IEEE Transactions on Wireless Communications 5(9):2321-2327. September 2006.
  1. A. Ribeiro, G. B. Giannakis, and , ”Bandwidth-Constrained Distributed Estimation for Wireless Sensor Networks – Part II: Unknown pdf,” IEEE Transactions on Signal Processing 54(7):2784-2796. July 2006.
  1. J. J. Xiao and A. RibeiroZ. Q. LuoG. B. Giannakis, ”Distributed Compression-Estimation Using Wireless Sensor Networks,” IEEE Robotics and Automation Letters 23(4):27-41. July 2006.
  1. A. Ribeiro, G. B. Giannakis, and , ”Bandwidth-Constrained Distributed Estimation for Wireless Sensor Networks – Part I: Gaussian Case,” IEEE Transactions on Signal Processing 54(3):1131-1143. March 2006.
  1. A. Ribeiro and G. B. Giannakis, ”Fixed and Random Access Cooperative Networks,” EURASIP Newsletter 17(1):3-24. March 2006.
  1. A. Ribeiro and G. B. Giannakis, ”Symbol Error Probabilities for General Cooperative Links,” IEEE Transactions on Wireless Communications 4(3):1264-1273. May 2005.