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Multidimensional Voronoi Constellations vs. Short Blocklength Probabilistic Shaping: A Comparison for Multilevel Coding Approach

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arXiv 2024年

作者： Sheng, Yajie Chen, Bin Lei, Yi Deng, Jingxin Xu, Jiwei Fu, Mengfan Zhuge, Qunbi Li, Shen Department of Computer Science and Information Engineering Hefei University of Technology Hefei China State Key Laboratory of Advanced Optical Communication Systems and Networks Department of Electronic Engineering Shanghai Jiao Tong University Shanghai China Department of Electrical and Computer Engineering Université Laval Québec Canada

Performance of concatenated multilevel coding with probabilistic shaping (PS) and Voronoi constellations (VCs) is analysed over AWGN channel. Numerical results show that VCs provide up to 1.3 dB SNR gains over PS-QAM ... 详细信息

关键词： Probability distributions

Optimization of Stacking Location for Mixed Loading of Steel Products

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Optimization of Stacking Location for Mixed Loading of Steel...

2022 IEEE International Conference on Industrial Technology, ICIT 2022

作者： Wang, Rong Zheng, Song Wang, Jinlong Xu, Zhezhuang Wen, Weixiang Chen, Boyu Zhang, Qingdong Fuzhou University College of Electrical Engineering and Automation Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China Sansteel Minguang Co. Ltd. Sanming Fujian353000 China

ISBN: (纸本)9781728119489

In the steel logistics park, the operational efficiency is repeatedly compromised due to excessive truck turnaround. For solving this problem fundamentally, the mixed loading relationship of multi-type steel products is excavated and the optimum solution for storage yard is proposed in the paper. Due to the limited stacking space, some products with small outbound demand have to be stacked together. A two-stage model is established to meet the stacking requirements for different outbound quantity of steel products. In the first stage, products with a small amount of stock will be mixed and stacked together according to certain rules. Then all products are allocated to specific yards in the second stage with the goal of maximizing the mixed correlation of steel products in the same yard to reduce the number of transitions for pick-up trucks. At the end, products in large quantities are placed in the stacking position close to the pick-up position. Experiments demonstrate that the proposed scheme is of great benefit to improve the operation efficiency of the logistics park. © 2022 IEEE.

关键词： Trucks

Distributed Uplink Rate Splitting Multiple Access (DU-RSMA): Principles and Performance Analysis

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arXiv 2024年

作者： Tegos, Apostolos A. Xiao, Yue Tegos, Sotiris A. Karagiannidis, George K. Diamantoulakis, Panagiotis D. The Department of Electrical and Computer Engineering Aristotle University of Thessaloniki Thessaloniki54124 Greece The Provincial Key Laboratory of Information Coding and Transmission Southwest Jiaotong University Chengdu610031 China

One of the main goals of the upcoming sixth-generation (6G) wireless networks is the ability to support higher network density, while ensuring a high quality of service for each user. In this paper, we introduce distributed uplink rate-splitting multiple access (DU-RSMA), define its basic principles, and provide insights into its advantages. Specifically, a system with two remote radio heads (RRHs) and two users is investigated. To improve the performance of the system, we consider that the RRHs can communicate through a feedback link, and thus they are able to decode the received messages either independently or with the assistance of the other RRH, since the decoded information can be shared through the feedback link. It should be noted that this scheme increases the achievable capacity region compared to the known multiple access schemes, which is also evaluated by a novel metric termed "fill factor". Both the case of adaptive transmission rates and the case of fixed transmission rates are investigated. To this end, the ergodic rate is investigated to cover the former case, while the outage probability is studied for the latter. Closed-form expressions are derived for both metrics. Finally, the analytical expressions are validated by simulation results, which explicitly show the impact of each parameter on the performance of the system, and prove that the proposed scheme outperforms the corresponding benchmarks. © 2024, CC BY.

关键词： Outages

Group-Oriented Multi-Signature supporting Monotonic Endorse Policies in Hyperledger Fabric

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Group-Oriented Multi-Signature supporting Monotonic Endorse ...

IEEE International Conference on Blockchain (Blockchain)

作者： Peng Zhang Yongwen Huang Fa Ge Yuhong Liu Guangdong Key Laboratory of Intelligent Information Processing College of Electronics and Information Engineering Shenzhen University Shenzhen China College of Electronics and Information Engineering Shenzhen University Shenzhen China Department of Computer Science and Engineering Santa Clara University Santa Clara USA

As multi-signature can produce one joint signature on the same message by an interactive protocol among a group of signers, it is widely used in all kinds of blockchain platforms (e.g., Bitcoin, Hypherledger Fabric, Algorand) to reduce the proportion of signatures in blocks, so that the platform scalability is improved. However, as existing multi-signature schemes mainly focus on “AND” relationship among multiple signers, they cannot adequately support the Fabric endorsement process that generally requires monotonic endorse policy with both “AND” and “OR” operations. Therefore, a Group-oriented Multi-Signature scheme (GMS) is proposed, which can aggregate the signatures of multiple signers from any group into one. Furthermore, GMS is used in the process of Fabric endorsement instead of ECDSA signature, so that the transaction protocol is improved. Analysis shows that, by aggregating multiple endorsement signatures according to the monotonic endorse policies, the proposed GMS has the security features of unforgeability, anonymity, revocability and traceability, and the improved transaction protocol has advantages in terms of smaller block size and faster verification time. In addition, it can protect the endorsement policies and the identities of the endorsement nodes anonymity.

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Adaptive Task Allocation in Multi-Human Multi-Robot Teams under Team Heterogeneity and Dynamic information Uncertainty

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arXiv 2024年

作者： Yuan, Ziqin Wang, Ruiqi Kim, Taehyeon Zhao, Dezhong Obi, Ike Min, Byung-Cheol SMART Laboratory Department of Computer and Information Technology Purdue University West LafayetteIN United States College of Mechanical and Electrical Engineering Beijing University of Chemical Technology Beijing China

Task allocation in multi-human multi-robot (MH-MR) teams presents significant challenges due to the inherent heterogeneity of team members, the dynamics of task execution, and the information uncertainty of operational states. Existing approaches often fail to address these challenges simultaneously, resulting in suboptimal performance. To tackle this, we propose ATA-HRL, an adaptive task allocation framework using hierarchical reinforcement learning (HRL), which incorporates initial task allocation (ITA) that leverages team heterogeneity and conditional task reallocation in response to dynamic operational states. Additionally, we introduce an auxiliary state representation learning task to manage information uncertainty and enhance task execution. Through an extensive case study in large-scale environmental monitoring tasks, we demonstrate the benefits of our approach. More details are available on our website: https://***/view/ata-hrl. Copyright © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第1期10卷 239-253页

作者： Yang Xiu Dongfang Li Miaomiao Zhang Hongbin Deng Rob Law Yun Huang Edmond Q.Wu Xin Xu the School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China the School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Antai College of Economics&Management Shanghai Jiao Tong UniversityShanghai 200240China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China the Asia-Pacific Academy of Economics and Management University of MacaoMacao 999078China the Department of Decision Science Macao University of Science and TechnologyMacao 999078China the Department of Automation Shanghai Jiao Tong Universityand also with the Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240China the College of Mechatronics and Automation National University of Defense TechnologyChangsha 410073China IEEE

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake ***,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track *** proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle *** our method,the designed piecewise auxiliary function guarantees the finite-time stability of position ***,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s *** uniform ultimate boundedness of the closed-loop system is proved by analyzing ***,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential *** last,the availability and superiority of this work are shown through simulation and experiment results.

关键词： Line-of-sight(LOS) path following sideslip snake robot

PrefCLM: Enhancing Preference-based Reinforcement Learning with Crowdsourced Large Language Models

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arXiv 2024年

作者： Wang, Ruiqi Zhao, Dezhong Yuan, Ziqin Obi, Ike Min, Byung-Cheol SMART Laboratory Department of Computer and Information Technology Purdue University West LafayetteIN United States College of Mechanical and Electrical Engineering Beijing University of Chemical Technology Beijing China

Preference-based reinforcement learning (PbRL) is emerging as a promising approach to teaching robots through human comparative feedback, sidestepping the need for complex reward engineering. However, the substantial volume of human feedback required in existing PbRL methods hinders broader applications. In this work, we introduce PrefCLM, a novel framework that utilizes crowdsourced large language models (LLMs) as synthetic teachers in PbRL. We utilize Dempster-Shafer Theory to fuse individual preferences from multiple LLM agents at the score level, efficiently leveraging their diversity and collective intelligence. We also introduce a human-in-the-loop pipeline, enabling iterative and collective refinements that adapt to the nuanced and individualized preferences inherent to human-robot interaction (HRI) scenarios. Experimental results across various general RL tasks show that PrefCLM achieves competitive performance compared to expert-engineered scripted teachers and excels in facilitating more more natural and efficient behaviors. A real-world user study (N=10) further demonstrates its capability to tailor robot behaviors to individual user preferences, significantly enhancing user satisfaction in HRI scenarios. Paper website: https://***. Copyright © 2024, The Authors. All rights reserved.

关键词： Human robot interaction

Collaboration Strategies for Two Heterogeneous Pursuers in A Pursuit-Evasion Game Using Deep Reinforcement Learning

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Collaboration Strategies for Two Heterogeneous Pursuers in A...

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

作者： Zhanping Zhong Zhuoning Dong Xiaoming Duan Jianping He The School of Automation Science and Electrical Engineering Beihang University Beijing China The Department of Automation Ministry of Education of China Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

We investigate a pursuit-evasion game taking place in an unbounded three-dimensional space, where a flexible pursuer with hybrid dynamics collaborates with a fast pursuer and aims to capture a flexible evader within a finite time. The key feature of this problem lies in the hybrid dynamics of the flexible pursuer, which can change its dynamics once during the game and switch to a fast pursuer with increased speed but lower maneuverability. To address this challenge, we devise a hybrid strategy based on the soft actor-critic framework, tailored specifically for the flexible pursuer, which encompasses both maneuvering and switch tactics. We introduce a switch factor to the input of the actor network and incorporate switch actions to further expand the action space. These additions enable the flexible pursuer to execute maneuvering actions and determine a moment to switch to a fast pursuer. The reward function is designed to account for related angle, altitude, speed, and sparse reward. Through extensive ablation experiments conducted in a simulated environment, we demonstrate the efficacy of our algorithm in facilitating the learning of hybrid strategies for the flexible pursuer, resulting in significantly improved capture rates compared to alternative methods.

关键词： Solid modeling Three-dimensional displays Heuristic algorithms Collaboration Switches Games Deep reinforcement learning Vectors Intelligent robots

Computing Power in the Sky: Digital Twin-assisted Collaborative Computing with Multi-UAV Networks

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IEEE Transactions on Vehicular Technology 2025年

作者： Wang, Chao Han, Yu Zhang, Long Jia, Ziye Zhang, Hongliang Hong, Choong Seon Han, Zhu Hebei University of Engineering School of Information and Electrical Engineering Handan056038 China Qilu University of Technology Shandong Academy of Sciences Key Laboratory of Computing Power Network and Information Security Ministry of Education Jinan250014 China Nanjing University of Aeronautics and Astronautics College of Electronic and Information Engineering Nanjing211106 China Southeast University National Mobile Communications Research Laboratory Jiangsu Nanjing211111 China Peking University State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Beijing100871 China Kyung Hee University Department of Computer Science and Engineering Gyeonggi-do Yongin-si17104 Korea Republic of University of Houston Department of Electrical and Computer Engineering HoustonTX77004 United States Kyung Hee University Department of Computer Science and Engineering Seoul446-701 Korea Republic of

The collaboration of computing powers (CPs) among unmanned aerial vehicles (UAVs)-mounted edge servers is essential to handle data-intensive tasks of user equipments (UEs). This paper presents a multi-UAV computing power network (CPN) that orchestrates the CP resources of edge servers to cooperatively process tasks through collaborative computing. Due to the frequent interactions among edge servers and the increased complexities for large-scale task executions, we propose a digital twin (DT)-driven multi-UAV CPN framework, where the aerial DT network is created as a digital replica of the multi-UAV network to assist collaborative computing. A joint optimization problem of the service association, offloading power control, task partitions, CP allocation, and UAV trajectory design is formulated to minimize the long-term average delay of UEs. We use the Lyapunov technique to tackle the long-term energy constraint, forming a tractable optimization problem, which is modeled as a Markov decision process to balance the UAV's deficit queue stability and the UE's task completion delay. A hybrid soft actor-critic based deep reinforcement learning algorithm is developed to optimize the joint design by sampling the hybrid action from the Gumbel and Gaussian distributions. Simulation results verify that the multi-UAV CPN contributes to significant performance gains when supported by DTs. © 2025 IEEE.

关键词： Markov processes