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Adaptive Estimation for Environmental Monitoring Using an Autonomous Underwater Vehicle

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Adaptive Estimation for Environmental Monitoring Using an Au...

IEEE Conference on Decision and Control

作者： Ziwen Yang Joana Fonseca Shanying Zhu Cailian Chen Xinping Guan Karl H. Johansson Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Digital Futures

This paper considers the problem of monitoring and adaptively estimating an environmental field, such as temperature or salinity, using an autonomous underwater vehicle (AUV). The AUV moves in the field and persistently measures environmental scalars and its position in its local coordinate frame. The environmental scalars are approximately linearly distributed over the region of interest, and an adaptive estimator is designed to estimate the gradient. By orthogonal decomposition of the velocity of the AUV, a linear time-varying system is equivalently constructed, and the sufficient conditions on the motion of the AUV are established, under which the global exponential stability of the estimation error system is rigorously proved. Furthermore, an estimate of the exponential convergence rate is given, and a reference trajectory that maximizes the estimate of the convergence rate is obtained for the AUV to track. Numerical examples verify the stability and efficiency of the system.

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Mobility-aware Seamless Service Migration and Resource Allocation in Multi-edge IoV systems

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arXiv 2025年

作者： Chen, Zheyi Huang, Sijin Min, Geyong Ning, Zhaolong Li, Jie Zhang, Yan College of Computer and Data Science Fuzhou University Fuzhou350116 China Engineering Research Center of Big Data Intelligence Ministry of Education Fujian Key Laboratory of Network Fuzhou350002 China Computing and Intelligent Information Processing [Fuzhou University Fuzhou350116 China Department of Computer Science Faculty of Environment Science and Economy University of Exeter ExeterEX4 4QF United Kingdom School of Communications and Information Engineering Chongqing University of Posts and Telecommunications Chongqing400065 China Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Informatics University of Oslo Oslo0316 Norway

Mobile Edge computing (MEC) offers low-latency and high-bandwidth support for Internet-of-Vehicles (IoV) applications. However, due to high vehicle mobility and finite communication coverage of base stations, it is hard to maintain uninterrupted and high-quality services without proper service migration among MEC servers. Existing solutions commonly rely on prior knowledge and rarely consider efficient resource allocation during the service migration process, making it hard to reach optimal performance in dynamic IoV environments. To address these important challenges, we propose SR-CL, a novel mobility-aware seamless Service migration and Resource allocation framework via Convex-optimization-enabled deep reinforcement Learning in multi-edge IoV systems. First, we decouple the Mixed Integer Nonlinear Programming (MINLP) problem of service migration and resource allocation into two sub-problems. Next, we design a new actor-critic-based asynchronous-update deep reinforcement learning method to handle service migration, where the delayed-update actor makes migration decisions and the one-step-update critic evaluates the decisions to guide the policy update. Notably, we theoretically derive the optimal resource allocation with convex optimization for each MEC server, thereby further improving system performance. Using the real-world datasets of vehicle trajectories and testbed, extensive experiments are conducted to verify the effectiveness of the proposed SR-CL. Compared to benchmark methods, the SR-CL achieves superior convergence and delay performance under various scenarios. Copyright © 2025, The Authors. All rights reserved.

关键词： Convex optimization

How universal polynomial bases enhance spectral graph neural networks: heterophily, over-smoothing, and over-squashing 24

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How universal polynomial bases enhance spectral graph neural...

Proceedings of the 41st International Conference on Machine Learning

作者： Keke Huang Yu Guang Wang Ming Li Pietro Liò School of Computing National University of Singapore Singapore Institute of Natural Sciences School of Mathematical Sciences Zhangjiang Institute for Advanced Study Shanghai Jiao Tong University Shanghai China and Shanghai AI Laboratory Shanghai China and School of Mathematics and Statistics University of New South Wales Sydney Australia Zhejiang Institute of Optoelectronics Jinhua China and Zhejiang Key Laboratory of Intelligent Education Technology and Application Zhejiang Normal University Jinhua China Department of Computer Science and Technology Cambridge University Cambridge UK

Spectral Graph Neural Networks (GNNs), alternatively known as graph filters, have gained increasing prevalence for heterophily graphs. Optimal graph filters rely on Laplacian eigendecomposition for Fourier transform. In an attempt to avert prohibitive computations, numerous polynomial filters have been proposed. However, polynomials in the majority of these filters are predefined and remain fixed across different graphs, failing to accommodate the varying degrees of heterophily. Addressing this gap, we demystify the intrinsic correlation between the spectral property of desired polynomial bases and the heterophily degrees via thorough theoretical analyses. Subsequently, we develop a novel adaptive heterophily basis wherein the basis vectors mutually form angles reflecting the heterophily degree of the graph. We integrate this heterophily basis with the homophily basis to construct a universal polynomial basis UniBasis, which devises a polynomial filter-based graph neural network - UniFilter. It optimizes the convolution and propagation in GNN, thus effectively limiting over-smoothing and alleviating over-squashing. Our extensive experiments, conducted on datasets with a diverse range of heterophily, support the superiority of UniBasis in the universality but also its proficiency in graph explanation.

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Recent progress of integrated circuits and optoelectronic chips

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science China(Information sciences) 2021年第10期64卷 103-135页

作者： Yue HAO Shuiying XIANG Genquan HAN Jincheng ZHANG Xiaohua MA Zhangming ZHU Xingxing GUO Yahui ZHANG Yanan HAN Ziwei SONG Yan LIU Ling YANG Hong ZHOU Jiangyi SHI Wei ZHANG Min XU Weisheng ZHAO Biao PAN Yangqi HUANG Qi LIU Yimao CAI Jian ZHU Xin OU Tiangui YOU Huaqiang WU Bin GAO Zhiyong ZHANG Guoping GUO Yonghua CHEN Yong LIU Xiangfei CHEN Chunlai XUE Xingjun WANG Lixia ZHAO Xihua ZOU Lianshan YAN Ming LI School of Microelectronics Xidian University State Key Laboratory of Integrated Service Networks Xidian University National Integrated Circuit Innovation Center School of Microelectronics Fudan University School of Integrated Circuit Science and Engineering Beihang University China Center for Information Industry Development Frontier Institute of Chip and System Fudan University Institute of Microelectronics Peking University Nanjing Electronic Devices Institute State Key Laboratory of Functional Material for Informatics Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Institute of Microelectronics Tsinghua University Center for Carbon-based Electronics Department of Electronics Peking University CAS Key Laboratory of Quantum Information University of Science and Technology of China CAS Center for Excellence and Synergetic Innovation Center in Quantum Information and Quantum Physics University of Science and Technology of China Origin Quantum Computing Company Limited Key Laboratory of Flexible Electronics & Institute of Advanced Materials Nanjing Tech University State Key Laboratory of Electronic Thin Films and Integrated Devices School of Optoelectronic Science and EngineeringUniversity of Electronic Science and Technology of China National Laboratory of Solid State Microstructures & College of Engineering and Applied Sciences Nanjing University State Key Laboratory on Integrated Optoelectronics Institute of Semiconductors Chinese Academy of Sciences Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of Sciences State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Engineering and Computer Science Peking University School of Electrical and Electronic Engineering Tiangong University Center for Information Photonics and Communications School of Information Science and TechnologySouthwest Jiaotong University School of Electronic Electrical and Communication Engineering

Integrated circuits(ICs) and optoelectronic chips are the foundation stones of the modern information society. The IC industry has been driven by the so-called "Moore's law" in the past 60 years, and now has entered the post Moore's law era. In this paper, we review the recent progress of ICs and optoelectronic chips. The research status, technical challenges and development trend of devices, chips and integrated technologies of typical IC and optoelectronic chips are focused on. The main contents include the development law of IC and optoelectronic chip technology, the IC design and processing technology, emerging memory and chip architecture, brain-like chip structure and its mechanism, heterogeneous integration, quantum chip technology, silicon photonics chip technology, integrated microwave photonic chip, and optoelectronic hybrid integrated chip.

关键词： integrated circuit photonic neural computing semiconductor science and technology optoelectronic device and chip photonic integrated circuit wide bandgap semiconductors silicon photonics hybrid integration quantum chip integrated microwave photonic

How Universal Polynomial Bases Enhance Spectral Graph Neural Networks: Heterophily, Over-smoothing, and Over-squashing

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arXiv 2024年

作者： Huang, Keke Wang, Yu Guang Li, Ming Liò, Pietro School of Computing National University of Singapore Singapore Institute of Natural Sciences School of Mathematical Sciences Zhangjiang Institute for Advanced Study Shanghai Jiao Tong University Shanghai China Shanghai AI Laboratory Shanghai China School of Mathematics and Statistics University of New South Wales Sydney Australia Zhejiang Institute of Optoelectronics Jinhua China Zhejiang Key Laboratory of Intelligent Education Technology and Application Zhejiang Normal University Jinhua China Department of Computer Science and Technology Cambridge University Cambridge United Kingdom

Spectral Graph Neural Networks (GNNs), alternatively known as graph filters, have gained increasing prevalence for heterophily graphs. Optimal graph filters rely on Laplacian eigendecomposition for Fourier transform. In an attempt to avert prohibitive computations, numerous polynomial filters have been proposed. However, polynomials in the majority of these filters are predefined and remain fixed across different graphs, failing to accommodate the varying degrees of heterophily. Addressing this gap, we demystify the intrinsic correlation between the spectral property of desired polynomial bases and the heterophily degrees via thorough theoretical analyses. Subsequently, we develop a novel adaptive heterophily basis wherein the basis vectors mutually form angles reflecting the heterophily degree of the graph. We integrate this heterophily basis with the homophily basis to construct a universal polynomial basis UniBasis, which devises a polynomial filter-based graph neural network – UniFilter. It optimizes the convolution and propagation in GNN, thus effectively limiting over-smoothing and alleviating over-squashing. Our extensive experiments, conducted on datasets with a diverse range of heterophily, support the superiority of UniBasis in the universality but also its proficiency in graph explanation. © 2024, CC BY-NC-SA.

关键词： Graph neural networks

DL-SLOT: Dynamic LiDAR SLAM and object tracking based on collaborative graph optimization

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arXiv 2022年

作者： Tian, Xuebo Zhu, Zhongyang Zhao, Junqiao Tian, Gengxuan Ye, Chen Department of Computer Science and Technology School of Electronics and Information Engineering Tongji University Shanghai China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China Institute of Intelligent Vehicles Tongji University Shanghai China

Ego-pose estimation and dynamic object tracking are two critical problems for autonomous driving systems. The solutions to these problems are generally based on their respective assumptions, i.e., the static world assumption for simultaneous localization and mapping (SLAM) and the accurate ego-pose assumption for object tracking. However, these assumptions are challenging to hold in dynamic road scenarios, where SLAM and object tracking become closely correlated. Therefore, we propose DL-SLOT, a dynamic LiDAR SLAM and object tracking method, to simultaneously address these two coupled problems. This method integrates the state estimations of both the autonomous vehicle and the stationary and dynamic objects in the environment into a unified optimization framework. First, we used object detection to identify all points belonging to potentially dynamic objects. Subsequently, a LiDAR odometry was conducted using the filtered point cloud. Simultaneously, we proposed a sliding window-based object association method that accurately associates objects according to the historical trajectories of tracked objects. The ego-states and those of the stationary and dynamic objects are integrated into the sliding window-based collaborative graph optimization. The stationary objects are subsequently restored from the potentially dynamic object set. Finally, a global pose-graph is implemented to eliminate the accumulated error. Experiments on KITTI datasets demonstrate that our method achieves better accuracy than SLAM and object tracking baseline methods. This confirms that solving SLAM and object tracking simultaneously is mutually advantageous, dramatically improving the robustness and accuracy of SLAM and object tracking in dynamic road scenarios. Copyright © 2022, The Authors. All rights reserved.

关键词： Optical radar

Audio-Driven Talking Face Video Generation with Dynamic Convolution Kernels

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arXiv 2022年

作者： Ye, Zipeng Xia, Mengfei Yi, Ran Zhang, Juyong Lai, Yu-Kun Huang, Xuwei Zhang, Guoxin Liu, Yong-Jin MOE-Key Laboratory of Pervasive Computing The Department of Computer Science and Technology Tsinghua University Beijing China The Department of Computer Science and Engineering Shanghai Jiao Tong University China The School of Mathematical Sciences University of Science and Technology China School of Computer Science and Informatics Cardiff University United Kingdom Kwai Inc.

In this paper, we present a dynamic convolution kernel (DCK) strategy for convolutional neural networks. Using a fully convolutional network with the proposed DCKs, high-quality talking-face video can be generated from multi-modal sources (i.e., unmatched audio and video) in real time, and our trained model is robust to different identities, head postures, and input audios. Our proposed DCKs are specially designed for audio-driven talking face video generation, leading to a simple yet effective end-to-end system. We also provide a theoretical analysis to interpret why DCKs work. Experimental results show that our method can generate high-quality talking-face video with background at 60 fps. Comparison and evaluation between our method and the state-of-the-art methods demonstrate the superiority of our method. Copyright © 2022, The Authors. All rights reserved.

关键词： Convolutional neural networks

DL-SLOT: Dynamic Lidar SLAM and Object Tracking Based On Graph Optimization

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arXiv 2022年

作者： Tian, Xuebo Zhao, Junqiao Ye, Chen Department of Computer Science and Technology School of Electronics and Information Engineering Tongji University Shanghai China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China Institute of Intelligent Vehicles Tongji University Shanghai China

Ego-pose estimation and dynamic object tracking are two key issues in an autonomous driving system. Two assumptions are often made for them, i.e. the static world assumption of simultaneous localization and mapping (SLAM) and the exact ego-pose assumption of object tracking, respectively. However, these assumptions are difficult to hold in highly dynamic road scenarios where SLAM and object tracking become correlated and mutually beneficial. In this paper, DL-SLOT, a dynamic Lidar SLAM and object tracking method is proposed. This method integrates the state estimations of both the ego vehicle and the static and dynamic objects in the environment into a unified optimization framework, to realize SLAM and object tracking (SLOT) simultaneously. Firstly, we implement object detection to remove all the points that belong to potential dynamic objects. Then, LiDAR odometry is conducted using the filtered point cloud. At the same time, detected objects are associated with the history object trajectories based on the time-series information in a sliding window. The states of the static and dynamic objects and ego vehicle in the sliding window are integrated into a unified local optimization framework. We perform SLAM and object tracking simultaneously in this framework, which significantly improves the robustness and accuracy of SLAM in highly dynamic road scenarios and the accuracy of objects' states estimation. Experiments on public datasets have shown that our method achieves better accuracy than A-LOAM. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

Exploring the Economic Feasibility of Advanced Air Mobility in the Early Stages

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IEEE Transactions on Intelligent Vehicles

IEEE Transactions on Intelligent Vehicles 2024年第5期9卷 4826-4830页

作者： Jingqiu Guo Long Chen Lingxi Li Xiaoxiang Na Ljubo Vlacic Fei-Yue Wang Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji University Shanghai China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Purdue School of Engineering and Technology Indiana University–Purdue University Indianapolis (IUPUI) Indianapolis IN USA Department of Engineering University of Cambridge Cambridge U.K. Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith University Nathan QLD Australia State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Engineering Macau University of Science and Technology Macau China

Advanced Air Mobility (AAM) envisages a sustainable, safe, convenient, and affordable air transport system. In socio-technical transition of AAM, there are a number of trade-offs in ecosystem that need to be studied. Three perspectives on economic feasibility are explored: first, based on history of VTOL services and value of time estimates, we discuss whether AAM can provide customers with competitive mobility services; second, what are the stakeholders’ insights on the deployment of AAM; last, the experience in the development of autonomous driving technology, such as parallel intelligence, can inform future AAM research.

关键词： Active appearance model Costs Economics Transportation Helicopters Aircraft propulsion Public transportation