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Multimodal Joint Prediction of Traffic Spatial-Temporal Data with Graph Sparse Attention Mechanism and Bidirectional Temporal Convolutional Network

SSRN

引用

SSRN 2024年

作者： Zhang, Dongran Yan, Jiangnan Polat, Kemal Alhudhaif, Adi Li, Jun Guangdong Provincial Key Laboratory of Intelligent Transportation System School of Intelligent Systems Engineering Sun Yat-sen University Shenzhen518107 China Department of Electrical and Electronics Engineering Faculty of Engineering Bolu Abant Izzet Baysal University Bolu Turkey Department of Computer Science College of Computer Engineering and Sciences Prince Sattam bin Abdulaziz University Al-Kharj11942 Saudi Arabia

Traffic flow prediction plays a crucial role in the management and operation of urban transportation systems. While extensive research has been conducted on predictions for individual transportation modes, there is relatively limited research on joint prediction across different transportation modes. Furthermore, existing multimodal traffic joint modeling methods often lack flexibility in spatial-temporal feature extraction. To address these issues, we propose a method called Graph Sparse Attention Mechanism with Bidirectional Temporal Convolutional Network (GSABT) for multimodal traffic spatial-temporal joint prediction. First, we use a multimodal graph multiplied by self-attention weights to capture spatial local features, and then employ the Top-U sparse attention mechanism to obtain spa-tial global features. Second, we utilize a bidirectional temporal convolutional network to enhance the temporal feature correlation between the output and input data, and extract inter-modal and intra-modal temporal features through the share-unique module. Finally, we have designed a multimodal joint prediction framework that can be flexibly extended to both spatial and temporal dimensions. Extensive experiments conducted on three real datasets indicate that the proposed model consistently achieves state-of-the-art predictive performance. © 2024, The Authors. All rights reserved.

关键词： Forecasting

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Fixed-time Adaptive Neural Control for Physical Human-Robot Collaboration with Time-Varying Workspace Constraints

arXiv

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arXiv 2023年

作者： Sun, Yuzhu Van, Mien McIlvanna, Stephen Nhat, Nguyen Minh McLoone, Seán Ceglarek, Dariusz Ge, Shuzhi Sam The Centre for Intelligent Autonomous Manufacturing Systems School of Electronics Electrical Engineering and Computer Science Queen’s University Northern Ireland Belfast United Kingdom The Warwick Manufacturing Group University of Warwick Coventry United Kingdom The Department of Electrical and Computer Engineering Social Robotics Laboratory National University of Singapore Singapore

Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for handling time-varying workspace constraints that occur in physical human-robot collaboration while also guaranteeing compliance during intended force interactions. The proposed methodology combines the benefits of compliance control, time-varying integral barrier Lyapunov function (TVIBLF) and fixed-time techniques, which not only achieve compliance during physical contact with human operators but also guarantee time-varying workspace constraints and fast tracking error convergence without any restriction on the initial conditions. Furthermore, a neural adaptive control law is designed to compensate for the unknown dynamics and disturbances of the robot manipulator such that the proposed control framework is overall fixed-time converged and capable of online learning without any prior knowledge of robot dynamics and disturbances. The proposed approach is finally validated on a simulated two-link robot manipulator. Simulation results show that the proposed controller is superior in the sense of both tracking error and convergence time compared with the existing barrier Lyapunov functions based controllers, while simultaneously guaranteeing compliance and safety. Copyright © 2023, The Authors. All rights reserved.

关键词： Lyapunov functions

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Multimodal Joint Prediction of Traffic Spatial-Temporal Data with Graph Sparse Attention Mechanism and Bidirectional Temporal Convolutional Network

arXiv

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arXiv 2024年

Traffic flow prediction plays a crucial role in the management and operation of urban transportation systems. While extensive research has been conducted on predictions for individual transportation modes, there is relatively limited research on joint prediction across different transportation modes. Furthermore, existing multimodal traffic joint modeling methods often lack flexibility in spatial-temporal feature extraction. To address these issues, we propose a method called Graph Sparse Attention Mechanism with Bidirectional Temporal Convolutional Network (GSABT) for multimodal traffic spatial-temporal joint prediction. First, we use a multimodal graph multiplied by self-attention weights to capture spatial local features, and then employ the Top-U sparse attention mechanism to obtain spatial global features. Second, we utilize a bidirectional temporal convolutional network to enhance the temporal feature correlation between the output and input data, and extract inter-modal and intra-modal temporal features through the share-unique module. Finally, we have designed a multimodal joint prediction framework that can be flexibly extended to both spatial and temporal dimensions. Extensive experiments conducted on three real datasets indicate that the proposed model consistently achieves state-of-the-art predictive performance. Copyright © 2024, The Authors. All rights reserved.

关键词： Urban transportation

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A Context-Enhanced Full-Resolution Floor Plan Segmentation Network for Topological Semantic Mapping

A Context-Enhanced Full-Resolution Floor Plan Segmentation N...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhengcai Cao Yiyang Sun Zhe Ma MengChu Zhou State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Topological semantic maps provide a practical solution to enhance indoor navigation for the Partially Sighted or Visually Impaired (PSVI). Segmenting indoor floor plans and extracting boundaries are key to constructing these maps. The existing methods exhibit low accuracy in segmentation. To achieve desired high segmentation accuracy, we introduce a Context-Enhanced Full-Resolution Network (CEFRN) for floor plan segmentation. It is designed to harness the shallow detailed features and inter-category contextual dependencies inherent in floor plans. CEFRN integrates modified residual blocks to capture the low-stage full-resolution features while maintaining its compactness. A position attention module is employed to refine the deep-stage contextual information. We also propose a two-dimensional deep supervision method to merge features from both stages, which significantly boosts the feature representation ability of CEFRN. Finally, a practical topological semantic mapping method for PSVI indoor navigation is introduced. Experimental results demonstrate that CEFRN’s segmentation accuracy well exceeds the state-of-the-art methods’. It can be used to well support accurate topological semantic mapping.

关键词： Accuracy Hospitals Indoor navigation Semantics Feature extraction Mobile robots Floors Intelligent robots Autonomous vehicles Drones

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A Tutorial on Movable Antennas for Wireless Networks

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IEEE Communications Surveys and Tutorials 2025年

作者： Zhu, Lipeng Ma, Wenyan Mei, Weidong Zeng, Yong Wu, Qingqing Ning, Boyu Xiao, Zhenyu Shao, Xiaodan Zhang, Jun Zhang, Rui National University of Singapore Department of Electrical and Computer Engineering 117583 Singapore National Key Laboratory of Wireless Communications Chengdu611731 China Southeast University National Mobile Communications Research Laboratory Frontiers Science Center for Mobile Information Communication and Security Nanjing210096 China Purple Mountain Laboratories Nanjing211111 China Shanghai Jiao Tong University Department of Electronic Engineering Shanghai200240 China Beihang University School of Electronic and Information Engineering Beijing100191 China University of Waterloo Department of Electrical and Computer Engineering WaterlooONN2L 3G1 Canada Beijing Institute of Technology State Key Laboratory of CNS/ATM Miit Key Laboratory of Complex-field Intelligent Sensing Beijing100081 China The Chinese University of HongKong School of Science and Engineering Shenzhen Research Institute of Big Data Guangdong Shenzhen518172 China

Movable antenna (MA) has been recognized as a promising technology to enhance the performance of wireless communication and sensing by enabling antenna movement. Such a significant paradigm shift from conventional fixed antennas (FAs) to MAs offers tremendous new opportunities towards realizing more versatile, adaptive and efficient next-generation wireless networks such as 6G. In this paper, we provide a comprehensive tutorial on the fundamentals and advancements in the area of MA-empowered wireless networks. First, we overview the historical development and contemporary applications of MA technologies. Next, to characterize the continuous variation in wireless channels with respect to antenna position and/or orientation, we present new field-response channel models tailored for MAs, which are applicable to narrowband and wideband systems as well as far-field and near-field propagation conditions. Subsequently, we review the state-of-the-art architectures for implementing MAs and discuss their practical constraints. A general optimization framework is then formulated to fully exploit the spatial degrees of freedom (DoFs) in antenna movement for performance enhancement in wireless systems. In particular, we delve into two major design issues for MA systems. First, we address the intricate antenna movement optimization problem for various communication and/or sensing systems to maximize the performance gains achievable by MAs. Second, we deal with the challenging channel acquisition issue in MA systems for reconstructing the channel mapping between arbitrary antenna positions inside the transmitter and receiver regions. Moreover, we show existing prototypes developed for MA-aided communication/sensing and the experimental results based on them. Finally, the extension of MA design to other wireless systems and its synergy with other emerging wireless technologies are discussed. We also highlight promising research directions in this area to inspire future investigatio

关键词： Antenna arrays

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Proactive Robust Hardening of Resilient Power Distribution Network: Decision-Dependent Uncertainty Modeling and Fast Solution Strategy

arXiv

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arXiv 2025年

作者： Ma, Donglai Cao, Xiaoyu Zeng, Bo Jia, Qing-Shan Chen, Chen Zhai, Qiaozhu Guan, Xiaohong School of Automation Science and Engineering The Ministry of Education Key Laboratory for Intelligent Networks and Network Security Xi’an Jiaotong University Shaanxi Xi’an710049 China Department of Industrial Engineering The Department of Electrical and Computer Engineering University of Pittsburgh PittsburghPA15106 United States Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing100084 China School of Electrical Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China

To address the power system hardening problem, traditional approaches often adopt robust optimization (RO) that considers a fixed set of concerned contingencies, regardless of the fact that hardening some components actually renders relevant contingencies impractical. In this paper, we directly adopt a dynamic uncertainty set that explicitly incorporates the impact of hardening decisions on the worst-case contingencies, which leads to a decision-dependent uncertainty (DDU) set. Then, a DDU-based robust-stochastic optimization (DDU-RSO) model is proposed to support the hardening decisions on distribution lines and distributed generators (DGs). Also, the randomness of load variations and available storage levels is considered through stochastic programming (SP) in the innermost level problem. Various corrective measures (e.g., the joint scheduling of DGs and energy storage) are included, coupling with a finite support of stochastic scenarios, for resilience enhancement. To relieve the computation burden of this new hardening formulation, an enhanced customization of parametric column-and-constraint generation (P-C&CG) algorithm is developed. By leveraging the network structural information, the enhancement strategies based on resilience importance indices are designed to improve the convergence performance. Numerical results on 33-bus and 118-bus test distribution networks have demonstrated the effectiveness of DDU-RSO aided hardening scheme. Furthermore, in comparison to existing solution methods, the enhanced P-C&CG has achieved a superior performance by reducing the solution time by a few orders of magnitudes. Copyright © 2025, The Authors. All rights reserved.

关键词： Stochastic programming

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Robust Co-Optimization of Distribution Network Hardening and Mobile Resource Scheduling with Decision-Dependent Uncertainty

arXiv

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arXiv 2025年

作者： Ma, Donglai Cao, Xiaoyu Zeng, Bo Chen, Chen Zhai, Qiaozhu Jia, Qing-Shan Guan, Xiaohong School of Automation Science and Engineering The Ministry of Education Key Laboratory for Intelligent Networks and Network Security Xi’an Jiaotong University Shaanxi Xi’an710049 China Department of Industrial Engineering The Department of Electrical and Computer Engineering University of Pittsburgh PittsburghPA15106 United States School of Electrical Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing100084 China

This paper studies the robust co-planning of proactive network hardening and mobile hydrogen energy resources (MHERs) scheduling, which is to enhance the resilience of power distribution network (PDN) against the disastrous events. A decision-dependent robust optimization model is formulated with min − max resilience constraint and discrete recourse structure, which helps achieve the load survivability target considering endogenous uncertainties. Different from the traditional model with a fixed uncertainty set, we adopt a dynamic representation that explicitly captures the endogenous uncertainties of network contingency as well as the available hydrogen storage levels of MHERs, which induces a decision-dependent uncertainty (DDU) set. Also, the multi-period adaptive routing and energy scheduling of MHERs are modeled as a mixed-integer recourse problem for further decreasing the resilience cost. Then, a nested parametric column-and-constraint generation (N-PC&CG) algorithm is customized and developed to solve this challenging formulation. By leveraging the structural property of the DDU set as well as the combination of discrete recourse decisions and the corresponding extreme points, we derive a strengthened solution scheme with nontrivial enhancement strategies to realize efficient and exact computation. Numerical results on 14-bus test system and 56-bus real-world distribution network demonstrate the resilience benefits and economical feasibility of the proposed method under different damage severity levels. Moreover, the enhanced NPC&CG shows a superior solution capability to support prompt decisions for resilient planning with DDU models. Copyright © 2025, The Authors. All rights reserved.

关键词： Hardening

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Mixture Gaussian Distribution-Based Collaborative Reinforcement Learning for 3D UAV Localization Optimization Against Jamming Attacks

Mixture Gaussian Distribution-Based Collaborative Reinforcem...

引用

IEEE Conference on Global Communications (GLOBECOM)

作者： Yujiao Zhu Mingzhe Chen Sihua Wang Yuchen Liu Gaolei Li Changchuan Yin Tony Q.S. Quek Beijing Laboratory of Advanced Information Network Beijing University of Posts and Telecommunications Beijing China Information Systems Technology and Design Pillar Singapore University of Technology and Design Singapore Department of Electrical and Computer Engineering and Institute for Data Science and Computing University of Miami Coral Gables FL USA Department of Computer Science North Carolina State University Raleigh NC USA School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University China

ISBN: (数字)9798350351255

ISBN: (纸本)9798350351262

In this paper, the optimization of unmanned aerial vehicle (UAV) localization under jamming attacks is studied. In the considered network, a base station (BS) collaborates with an active UAV to localize a target UAV. During this positioning process, a jamming UAV transmits discontinuous signals to passive UAVs to interfere the distance information measurement. To localize the target UAV under jamming attacks, the BS jointly use two localization methods: 1) generative adversarial network (GAN)-based positioning method and 2) time difference of arrival (TDOA)-based positioning method. Since GAN-based positioning method cannot defense in a strong jamming signal while TDOA-based positioning method may consume more energy and sacrifice localization accuracy, the BS must select an appropriate positioning method (GAN-based or TDOA-based methods) and four distance measurement information of passive UAVs to estimate the position of the target UAV. This problem is formulated as an optimization problem whose goal is to minimize the positioning error between the estimated and the ground truth positions of the target UAV while considering jamming attacks and the trajectory of passive UAVs. To solve this problem, we propose a mixture Gaussian distribution model-based collaborative reinforcement learning (RL) method which enables the active UAV to determine its transmit power and trajectory, and enables the BS to select the most appropriate subsets of distance measurement information and the optimal positioning method according to the movement of passive UAVs and the unknown jamming attack pattern of the jamming UAV. Simulation results show the proposed method can reduce the positioning error of the target UAV by up to 36.5% compared to the method that does not consider the GAN-based positioning method.

关键词： Location awareness Simulation Collaboration Reinforcement learning Gaussian distribution Autonomous aerial vehicles Distance measurement Trajectory Jamming Optimization

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Toward Scene Understanding with Depth and Object-Aware Clustering in Contested Environment

Toward Scene Understanding with Depth and Object-Aware Clust...

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International Conference on Machine Learning and Applications (ICMLA)

作者： Manish Bhurtel Yuba R. Siwakoti Danda B. Rawat Brian M. Sadler John M. Fossaceca Daniel O. Rice Department of Electrical Engineering and Computer Science Howard University Washington DC USA U.S. Army Research Laboratory Adelphi MD USA FAST Labs BAE Systems Burlington MA USA

Scene understanding in a contested battlefield is one of the very difficult tasks for detecting and identifying threats. In a complex battlefield, multiple autonomous robots for multi-domain operations are likely to track the activities of the same threat/objects leading to inefficient and redundant tasks. To address this problem, we propose a novel and effective object clustering framework that takes into account the position and depth of objects scattered in the scene. This framework enables the robot to focus solely on the objects of interest. Our system model incorporates YOLOv5 object detection model (ODM) and a pre-trained depth estimation model (DEM), whose outputs are fed into the KMeans Clustering (KM C) model. To train YOLOv5, we create our own battlefield dataset entitled “Common Objects in Battlefield (COBA)” which is split into a training dataset and a validation dataset using our customized object-aware stratified 7-fold cross-validation technique. We present the creation of minimum optimal clusters assuming the minimum number of available battlefield robots. These clusters exhibit accurate relative distances among objects, further validating the effectiveness of our approach for depth and object-aware clustering for scene understanding. Overall, our proposed approach facilitates efficient work division among robots, enhances decision-making capabilities, and helps to improve situational awareness in battlefield scenarios.

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CauSkelNet: Causal Representation Learning for Human Behaviour Analysis

arXiv

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arXiv 2024年

作者： Gu, Xingrui Jiang, Chuyi Wang, Erte Wu, Zekun Cui, Qiang Tian, Leimin Wu, Lianlong Song, Siyang Yu, Chuang EECS University of California Berkeley BerkeleyCA United States Department of Electrical Engineering Columbia University New YorkNY United States Department of Computer Science University College London London United Kingdom Holistic AI University College London London United Kingdom The Future Laboratory Tsinghua University Beijing China School of Electrical and Computer Systems Engineering Monash University Melbourne Australia Department of Computer Science Oxford University Oxford United Kingdom Department of Computer Science University of Exeter Exeter United Kingdom UCL Interaction Centre University College London London United Kingdom

Constrained by the lack of model interpretability and a deep understanding of human movement in traditional movement recognition machine learning methods, this study introduces a novel representation learning method based on causal inference to better understand human joint dynamics and complex behaviors. We propose a two-stage framework that combines the Peter-Clark (PC) algorithm and Kullback-Leibler (KL) divergence to identify and quantify causal relationships between joints. Our method effectively captures interactions and produces interpretable, robust representations. Experiments on the EmoPain dataset show that our causal GCN outperforms traditional GCNs in accuracy, F1 score, and recall, especially in detecting protective behaviors. The model is also highly invariant to data scale changes, enhancing its reliability in practical applications. Our approach advances human motion analysis and paves the way for more adaptive intelligent healthcare solutions. Copyright © 2024, The Authors. All rights reserved.

关键词： Adversarial machine learning

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