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Optimizing Monitoring Utility of Unmanned Aerial Vehicles Considering Adverse Effects

IEEE Transactions on Mobile Computing 2025年第7期24卷 5996-6013页

作者： Zhang, Haihan Dai, Haipeng Qiu, Yu Yu, Enze Zhou, Ruiben Wang, Weijun Wang, Jingwu Chen, Guihai Nanjing University State Key Laboratory for Novel Software Technology Nanjing210023 China South China University of Technology School of Computer Science and Engineering Guangzhou China Beijing China

For Unmanned Aerial Vehicles (UAVs) monitoring tasks, capturing high quality images of target objects is important for subsequent recognition. Concerning the problem, many prior works study placement/trajectory planning for UAVs to maximize the quality of captured images. However, all of them overlook a fact that UAV monitoring may cause a huge risk/annoyance on living objects. In this paper, we investigate the novel problem of oPtimizing unmanned aErial vehicles plAcement by Considering both monitoring utility and adverse Effects (PEACE). We propose an approach to solve PEACE, which is proved to be NP-hard. Overall, our approach achieves a 1-1/e- approximation ratio. First, we approximate the original problem of PEACE as a classical problem of Monotone Submodular function Maximization under a Uniform Matroid constraint (MSMUM) with a controlled gap. Then, for MSMUM, we propose a combination of algorithms achieving a 1-1/e approximation and O(n\log n) time complexity considering the correlation among the UAV monitoring strategies. The proposed algorithms outperform existing algorithms for MSMUM through theoretical analysis and experimental results. Extensive simulations and field experiments demonstrate the effectiveness of our approach, achieving performance gains of 9.0% to 1434.5% compared to existing methods. © 2002-2012 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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A deep Q-learning model for sequential task offloading in edge AI systems

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Intelligent and Converged Networks 2024年第3期5卷 207-221页

作者： Dong Liu Shiheng Gu Xinyu Fan Xu Zheng Department of Computer Science and Engineering University of Electronic Science and Technology of ChinaChengdu 610000China Shenzhen Institute for Advanced Study University of Electronic Science and Technology of ChinaShenzhen 515100China Department of Information and Software Engineering University of Electronic Science and Technology of ChinaChengdu 610000China

Currently,edge Artificial Intelligence(AI)systems have significantly facilitated the functionalities of intelligent devices such as smartphones and smart cars,and supported diverse applications and *** fundamental supports come from continuous data analysis and computation over these *** the resource constraints of terminal devices,multi-layer edge artificial intelligence systems improve the overall computing power of the system by scheduling computing tasks to edge and cloud servers for *** efforts tend to ignore the nature of strong pipelined characteristics of processing tasks in edge AI systems,such as the encryption,decryption and consensus algorithm supporting the implementation of Blockchain ***,this paper proposes a new pipelined task scheduling algorithm(referred to as PTS-RDQN),which utilizes the system representation ability of deep reinforcement learning and integrates multiple dimensional information to achieve global task ***,a co-optimization strategy based on Rainbow Deep Q-Learning(RainbowDQN)is proposed to allocate computation tasks for mobile devices,edge and cloud servers,which is able to comprehensively consider the balance of task turnaround time,link quality,and other factors,thus effectively improving system performance and user *** addition,a task scheduling strategy based on PTS-RDQN is proposed,which is capable of realizing dynamic task allocation according to device *** results based on many simulation experiments show that the proposed method can effectively improve the resource utilization,and provide an effective task scheduling strategy for the edge computing system with cloud-edge-end architecture.

关键词： edge computing task scheduling reinforcement learning Rainbow Deep Q-Learning(RainbowDQN)

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CRAYM: Neural Field Optimization via Camera RAY Matching 38

CRAYM: Neural Field Optimization via Camera RAY Matching

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Lin, Liqiang Wu, Wenpeng Fu, Chi-Wing Zhang, Hao Huang, Hui College of Computer Science and Software Engineering Shenzhen University China Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong School of Computing Science Simon Fraser University Canada

We introduce camera ray matching (CRAYM) into the joint optimization of camera poses and neural fields from multi-view images. The optimized field, referred to as a feature volume, can be "probed" by the camera rays for novel view synthesis (NVS) and 3D geometry reconstruction. One key reason for matching camera rays, instead of pixels as in prior works, is that the camera rays can be parameterized by the feature volume to carry both geometric and photometric information. Multi-view consistencies involving the camera rays and scene rendering can be naturally integrated into the joint optimization and network training, to impose physically meaningful constraints to improve the final quality of both the geometric reconstruction and photorealistic rendering. We formulate our per-ray optimization and matched ray coherence by focusing on camera rays passing through keypoints in the input images to elevate both the efficiency and accuracy of scene correspondences. Accumulated ray features along the feature volume provide a means to discount the coherence constraint amid erroneous ray matching. We demonstrate the effectiveness of CRAYM for both NVS and geometry reconstruction, over dense- or sparse-view settings, with qualitative and quantitative comparisons to state-of-the-art alternatives. © 2024 Neural information processing systems foundation. All rights reserved.

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User story clustering in agile development:a framework and an empirical study

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Frontiers of computer science 2023年第6期17卷 43-59页

作者： Bo YANG Xiuyin MA Chunhui WANG Haoran GUO Huai LIU Zhi JIN School of Information Science and Technology Beijing Forestry UniversityBeijing 100083China Engineering Research Center for Forestry Oriented Intelligent Information Processing National Forestry and Grassland AdministrationBeijing 100083China School of Information Science and Technology North China University of TechnologyBeijing 100144China College of Computer Science and Technology Inner Mongolia Normal UniversityHohhot 010020China Department of Computer Science and Software Engineering Swinburne University of TechnologyHawthorn VIC 3122Australia Key Laboratory of High Confidence Software Technologies(Peking University) Ministry of EducationBeijing 100871China Institute of Software School of Computer SciencePeking UniversityBeijing 100871China

Agile development aims at rapidly developing software while embracing the continuous evolution of user requirements along the whole development *** stories are the primary means of requirements collection and elicitation in the agile development.A project can involve a large amount of user stories,which should be clustered into different groups based on their functionality’s similarity for systematic requirements analysis,effective mapping to developed features,and efficient ***,the current user story clustering is mainly conducted in a manual manner,which is time-consuming and subjective to human *** this paper,we propose a novel approach for clustering the user stories automatically on the basis of natural language ***,the sentence patterns of each component in a user story are first analysed and determined such that the critical structure in the representative tasks can be automatically extracted based on the user story *** similarity of user stories is calculated,which can be used to generate the connected graph as the basis of automatic user story *** evaluate the approach based on thirteen datasets,compared against ten baseline *** results show that our clustering approach has higher accuracy,recall rate and F1-score than these *** is demonstrated that the proposed approach can significantly improve the efficacy of user story clustering and thus enhance the overall performance of agile *** study also highlights promising research directions for more accurate requirements elicitation.

关键词： user story agile development user story mapping clustering

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Enhancing Security in Distributed Drone-Based Litchi Fruit Recognition and Localization Systems

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computers, Materials & Continua 2025年第2期82卷 1985-1999页

作者： Liang Mao Yue Li Linlin Wang Jie Li Jiajun Tan Yang Meng Cheng Xiong Guangdong-Hong Kong-Macao Greater Bay Area Artificial Intelligence Application Technology Research Institute Shenzhen Polytechnic UniversityShenzhen518055China School of Computer Science and Software Engineering University of Science and Technology LiaoningAnshan114051China

This paper introduces an advanced and efficient method for distributed drone-based fruit recognition and localization, tailored to satisfy the precision and security requirements of autonomous agricultural operations. Our method incorporates depth information to ensure precise localization and utilizes a streamlined detection network centered on the RepVGG module. This module replaces the traditional C2f module, enhancing detection performance while maintaining speed. To bolster the detection of small, distant fruits in complex settings, we integrate Selective Kernel Attention (SKAttention) and a specialized small-target detection layer. This adaptation allows the system to manage difficult conditions, such as variable lighting and obstructive foliage. To reinforce security, the tasks of recognition and localization are distributed among multiple drones, enhancing resilience against tampering and data manipulation. This distribution also optimizes resource allocation through collaborative processing. The model remains lightweight and is optimized for rapid and accurate detection, which is essential for real-time applications. Our proposed system, validated with a D435 depth camera, achieves a mean Average Precision (mAP) of 0.943 and a frame rate of 169 FPS, which represents a significant improvement over the baseline by 0.039 percentage points and 25 FPS, respectively. Additionally, the average localization error is reduced to 0.82 cm, highlighting the model’s high precision. These enhancements render our system highly effective for secure, autonomous fruit-picking operations, effectively addressing significant performance and cybersecurity challenges in agriculture. This approach establishes a foundation for reliable, efficient, and secure distributed fruit-picking applications, facilitating the advancement of autonomous systems in contemporary agricultural practices.

关键词： Objective detection deep learning machine learning

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Curse to Blessing: Leveraging Model Inversion Attacks to Detect Backdoor Attacks in Federated Learning

Curse to Blessing: Leveraging Model Inversion Attacks to Det...

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IEEE International Conference on Performance, Computing and Communications (IPCCC)

作者： Zhaowen Chen Mingze Zhang Caleb Mostyn Honglu Jiang Xianglong Feng Department of Computer Science and Software Engineering Miami University Oxford

ISBN: (数字)9798350367942

ISBN: (纸本)9798350367959

Federated Learning (FL) offers significant advancements in user/data privacy, learning quality, model efficiency, scalability, and network communication latency. However, it faces notable security challenges, particularly with the emergence of backdoor attacks. The distributed nature of FL complicates the development of backdoor-resistant systems compared to traditional machine learning environments. In this paper, we propose a novel approach to turn the perceived curse of model inversion (MI) attacks into a blessing, using them as a tool for detecting backdoor attacks in FL environments. Leveraging MI outputs, we propose a K-means-based feature extraction and Isolation-Forest-based anomaly detection algorithm to analyze behavior and detect abnormal learning performance, thereby identifying backdoor attacks. Experimental results demonstrate the effectiveness and superior performance of our method in detecting backdoor attacks within FL systems.

关键词： Privacy Machine learning algorithms Federated learning Databases Scalability Forestry Feature extraction Security Faces Anomaly detection

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Intelligent Segment Routing: Toward Load Balancing with Limited Control Overheads

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Big Data Mining and Analytics 2023年第1期6卷 55-71页

作者： Shu Yang Ruiyu Chen Laizhong Cui Xiaolei Chang College of Computer Science and Software Engineering Shenzhen UniversityShenzhen 518000China Tsinghua Shenzhen International Graduate School Tsinghua UniversityShenzhen 518071China

Segment routing has been a novel architecture for traffic engineering in recent ***,segment routing brings control overheads,i.e.,additional packets headers should be *** overheads can greatly reduce the forwarding efficiency for a large network,when segment headers become too *** achieve the best of two targets,we propose the intelligent routing scheme for traffic engineering(IRTE),which can achieve load balancing with limited control *** achieve optimal performance,we first formulate the problem as a mapping problem that maps different flows to key diversion ***,we prove the problem is nondeterministic polynomial(NP)-hard by reducing it to a k-dense subgraph *** solve this problem,we develop an ant colony optimization algorithm as improved ant colony optimization(IACO),which is widely used in network optimization *** also design the load balancing algorithm with diversion routing(LBA-DR),and analyze its theoretical ***,we evaluate the IRTE in different real-world topologies,and the results show that the IRTE outperforms traditional algorithms,e.g.,the maximum bandwidth is 24.6% lower than that of traditional algorithms when evaluating on BellCanada topology.

关键词： traffic engineering segment routing bandwidth load balancing ant colony optimization

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Automatic Positioning of Intelligent Mobile Robot Based on Improved Front-End Scanning Matching

Journal of Network Intelligence

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Journal of Network Intelligence 2025年第1期10卷 559-572页

作者： Wang, Hong Wang, Yi-Gui Zhang, Jie Department of Computer and Software Engineering Shandong College of Electronic Technology Jinan250200 China School of Computer Science and Technology Shandong Jianzhu University Jinan250101 China College of Agricultural Science and Technology Yana Royal Polytechnic University Chiang Mai50000 Thailand

Traditional autonomous navigation methods for mobile robots mainly rely on geometric feature-based LiDAR scan-matching algorithms, but in complex environments, this method is often affected due to the presence of moving objects, occlusions, and other interfering factors, resulting in a decrease in positioning accuracy. With the growing demand for robotics applications in logistics, security, exploration and other fields, the need for robust autonomous navigation and high-precision mapping in highly dynamic and complex environments is becoming more and more urgent. To solve this problem, an improved front-end scan matching algorithm based on Frequency Modulated Continuous Wave (FMCW) LiDAR is proposed in this paper. Firstly, by using the target Doppler velocity information provided by the FMCW LiDAR, we design a novel point cloud segmentation algorithm based on velocity clustering, which is able to effectively distinguish between stationary and moving objects, and avoid the dynamic interference affecting the position estimation. Secondly, we introduce the Gaussian Mixture Model Sampling Consistency (GMMSC) algorithm, which is more robust to reject the mis-matched pairs in the scanning matching process and improve the alignment accuracy. Finally, based on the residual high-quality matched pairs, we combine the classical ICP algorithm with the robust kernel function to further enhance the stability of the position estimation in the case of occlusion and local mismatch. The experimental results show that the proposed improved algorithm significantly improves the mapping capability of mobile robots in complex environments compared with the existing techniques. The average relative error of the improved front-end scanning matching algorithm is reduced by 40.6 % compared with the pre-improved one. © 2025, Taiwan Ubiquitous Information CO LTD. All rights reserved.

关键词： Mobile robots

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Reconstruct and Match: Out-of-Distribution Robustness via Topological Homogeneity 38

Reconstruct and Match: Out-of-Distribution Robustness via To...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Chen, Chaoqi Tang, Luyao Huang, Hui College of Computer Science and Software Engineering Shenzhen University China School of Informatics Xiamen University China

Since deep learning models are usually deployed in non-stationary environments, it is imperative to improve their robustness to out-of-distribution (OOD) data. A common approach to mitigate distribution shift is to regularize internal representations or predictors learned from in-distribution (ID) data to be domain invariant. Past studies have primarily learned pairwise invariances, ignoring the intrinsic structure and high-order dependencies of the data. Unlike machines, humans recognize objects by first dividing them into major components and then identifying the topological relation of these components. Motivated by this, we propose Reconstruct and Match (REMA), a general learning framework for object recognition tasks to endow deep models with the capability of capturing the topological homogeneity of objects without human prior knowledge or fine-grained annotations. To identify major components from objects, REMA introduces a selective slot-based reconstruction module to dynamically map dense pixels into a sparse and discrete set of slot vectors in an unsupervised manner. Then, to model high-order dependencies among these components, we propose a hypergraph-based relational reasoning module that models the intricate relations of nodes (slots) with structural constraints. Experiments on standard benchmarks show that REMA outperforms state-of-the-art methods in OOD generalization and test-time adaptation settings. © 2024 Neural information processing systems foundation. All rights reserved.

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Weakly Supervised Intracranial Hemorrhage Segmentation with YOLO and an Uncertainty Rectified Segment Anything Model 4th

Weakly Supervised Intracranial Hemorrhage Segmentation with...

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4th International Workshop on Imaging and Treatment Challenges, SWITCH 2024, and 6th International Challenge on Ischemic Stroke Lesion Segmentation Challenge, ISLES 2024, Held in Conjunction with Medical Image Computing and computer Assisted Intervention, MICCAI 2024

作者： Spiegler, Pascal Rasoulian, Amirhossein Xiao, Yiming Department of Computer Science and Software Engineering Concordia University Montreal Canada NeuroRx Research Montreal Canada

ISBN: (纸本)9783031811005

Intracranial hemorrhage (ICH) is a life-threatening condition that requires rapid and accurate diagnosis to improve treatment outcomes and patient survival rates. Recent advancements in supervised deep learning have greatly improved the analysis of medical images, but often rely on extensive datasets with high-quality annotations, which are costly, time-consuming, and require medical expertise to prepare. To mitigate the need for large amounts of expert-prepared segmentation data, we have developed a novel weakly supervised ICH segmentation method that utilizes the YOLO object detection model and an uncertainty-rectified Segment Anything Model (SAM). In addition, we have proposed a novel point prompt generator for this model to further improve segmentation results with YOLO-predicted bounding box prompts. Our approach achieved a high accuracy of 0.933 and an AUC of 0.796 in ICH detection, along with a mean Dice score of 0.629 for ICH segmentation, outperforming existing weakly supervised and popular supervised (UNet and Swin-UNETR) approaches. Overall, the proposed method provides a robust and accurate alternative to the more commonly used supervised techniques for ICH quantification without requiring refined segmentation ground truths during model training. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Image segmentation

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