Joint optimization of beamforming, user scheduling, and multiple base station assignment in a multicell network. - Guido Dartmann; Waqas Afzal; Xitao Gong; Gerd Ascheid (WCNC, 2011)

On the Duality of the Max-Min Beamforming Problem With Per-Antenna and Per-Antenna-Array Power Constraints. - Guido Dartmann; Xitao Gong; Waqas Afzal; Gerd Ascheid (IEEE Trans. Veh. Technol., 2013)

Harmonic potential-based Communication-Aware Navigation of mobile agents in cluttered spaces. - Waqas Afzal; Ahmad A. Masoud (CDC, 2016)

Harmonic potential based communication-aware navigation and beamforming in cluttered spaces with full channel-state information. - Waqas Afzal; Ahmad A. Masoud (ICRA, 2017)

Model-Based Navigation Control for Communication-Aware Motion Using Harmonic Potential Fields. - Waqas Afzal; Ahmad A. Masoud (IEEE Trans Autom. Sci. Eng., 2023)