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arXiv 2024年

作者： Cao, Kun Xu, Xinhang Jin, Wanxin Johansson, Karl H. Xie, Lihua School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore School for Engineering of Matter Transport and Energy Arizona State University United States Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures StockholmSE-10044 Sweden

A differential dynamic programming (DDP)-based framework for inverse reinforcement learning (IRL) is introduced to recover the parameters in the cost function, system dynamics, and constraints from demonstrations. Different from existing work, where DDP was used for the inner forward problem with inequality constraints, our proposed framework uses it for efficient computation of the gradient required in the outer inverse problem with equality and inequality constraints. The equivalence between the proposed method and existing methods based on Pontryagin’s Maximum Principle (PMP) is established. More importantly, using this DDP-based IRL with an open-loop loss function, a closed-loop IRL framework is presented. In this framework, a loss function is proposed to capture the closed-loop nature of demonstrations. It is shown to be better than the commonly used open-loop loss function. We show that the closed-loop IRL framework reduces to a constrained inverse optimal control problem under certain assumptions. Under these assumptions and a rank condition, it is proven that the learning parameters can be recovered from the demonstration data. The proposed framework is extensively evaluated through four numerical robot examples and one real-world quadrotor system. The experiments validate the theoretical results and illustrate the practical relevance of the approach. © 2024, CC BY.

关键词： Cost functions

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Non-Orthogonal Multiple Access Based Multi-Objective Optimization in Emergency Task Offloading

Non-Orthogonal Multiple Access Based Multi-Objective Optimiz...

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2025 IEEE Wireless Communications and Networking Conference, WCNC 2025

作者： Chen, Caijuan Zhang, Chaofeng Li, Gaolei Liu, Yuchen National Institute of Informatics The Information Systems Architecture Science Research Division Tokyo Japan Advanced Institute of Industrial Technology Tokyo Japan School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Nc State University Department of Computer Science NC United States

ISBN: (纸本)9798350368369

The escalating frequency of geological disasters, local conflicts, and public health crises necessitates robust emergency communication systems within Internet of Things (IoT) frameworks to ensure public safety. Employing Power-Domain NOMA (PD-NOMA) and Successive Interference Cancellation (SIC) enables effective multi-device communication that is crucial for emergency responses. However, the practical implementation of NOMA technologies in emergency scenarios is hindered by existing resource constraints and the requirement of prioritizing critical emergency information. To address these limitations, we propose a multi-objective optimization-based NOMA framework to maximize network throughput while ensuring quality of service (QoS) and energy efficiency. This framework incorporates a novel communication grouping algorithm based on queue penalty optimization and an Actor-Critic-based dynamic updating algorithm for multiple resource allocation. Our study proposes a practical approach to enhance emergency communication in disaster areas, ensuring efficient and reliable network performance under various constraints. © 2025 IEEE.

关键词： Multiobjective optimization

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Non-Orthogonal Multiple Access Based Multi-Objective Optimization in Emergency Task Offloading

Non-Orthogonal Multiple Access Based Multi-Objective Optimiz...

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IEEE Conference on Wireless Communications and Networking

作者： Caijuan Chen Chaofeng Zhang Gaolei Li Yuchen Liu The Information Systems Architecture Science Research Division National Institute of Informatics Tokyo Japan Advanced Institute of Industrial Technology Tokyo Japan School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Department of Computer Science NC State University North Carolina US

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

关键词： NOMA Interference cancellation Heuristic algorithms Disasters Quality of service Throughput Dynamic scheduling Internet of Things Resource management Optimization

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Development and product trials of a cost-effective cloud-based thermal camera body temperature measurement system 21

Development and product trials of a cost-effective cloud-bas...

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9th International Conference on computer and Communications Management, ICCCM 2021

作者： Fung, Kwong Chiu Mow, Wai Ho Au, Kam Hei Mok, Yim To Chim, Ho Yin Division of Integrative Systems and Design The Hong Kong University of Science and Technology Hong Kong Intelligent Design Technology Limited Hong Kong Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong

ISBN: (纸本)9781450390071

Amid the COVID-19 pandemic, body temperature monitoring is an effective measure to reduce the risk of COVID-19 spreading in the community. Two common ways to measure body temperature in public settings include non-contact infrared thermometers and thermal imaging systems. The use of non-contact infrared thermometers involves physical proximity, additional manpower and time, whereas the existing thermal imaging systems are either inaccurate or expensive. To address the above problems, we present an accurate and low-cost automatic fever screening system to assist in preliminary health assessment. Our system involves the integration of a RGB camera, a thermal camera, an embedded system board, and a cloud analytics platform. By utilizing temperature measurement and face detection, our system can extract forehead temperature and assess if the person being evaluated is wearing a mask or not. The system has conducted trial runs in various crowded settings including schools, restaurants, community centres, and commercial buildings. In this study, we manage to lower the cost of developing an effective self-checking station for fever screening by hardware trade-off and software optimization, resulting in a market acceptance price. This makes our solution widely accessible to serve the local community during the COVID-19 period. © 2021 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Body Temperature Measurement Face Detection Coronavirus COVID-19 Thermal Imaging

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Evaluation of Robustness Metrics for Defense of Machine Learning systems

Evaluation of Robustness Metrics for Defense of Machine Lear...

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International Conference on Military Communications and Information systems (ICMCIS)

作者： J. DeMarchi R. Rijken J. Melrose B. Madahar G. Fumera F. Roli E. Ledda M. Aktaş F. Kurth P. Baggenstoss B. Pelzer L. Kanestad Collaborative Engineering Systems & Aerospace Systems Information Supremacy Royal Netherlands Aerospace Centre NLR Amsterdam NLD Cyber & Information Systems Division Defence Science and Technology Laboratory Portondown GBR Department of Electrical and Electronic Engineering University of Cagliari Cagliari ITA Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa ITA Department of Computer Control and Management Engineering Sapienza University of Rome Rome ITA Defence Systems Technologies Division ASELSAN Ankara TUR Fraunhofer Institute for Communication Information Processing and Ergonomics Bonn DEU Swedish Defence Research Agency Cyber Defence and C2 Technology Division Stockholm SWE

In this paper we explore some of the potential applications of robustness criteria for machine learning (ML) systems by way of tangible “demonstrator” scenarios. In each demonstrator, ML robustness metrics are applied to real-world scenarios with military relevance, indicating how they might be used to help detect and handle possible adversarial attacks on ML systems. We conclude by sketching promising future avenues of research in order to: (1) help establish useful verification methodologies to facilitate ML robustness compliance assessment; (2) support development of ML accountability mechanisms; and (3) reliably detect, repel, and mitigate adversarial attack.

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Distributed Online Convex Optimization with Time-Varying Constraints: Tighter Cumulative Constraint Violation Bounds under Slater's Condition

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IEEE Transactions on Automatic Control 2025年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Hong, Yiguang Chai, Tianyou Johansson, Karl H. National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai Institute of Intelligent Science and Technology China Ministry of Education Frontiers Science Center for Intelligent Autonomous Systems China Massachusetts Institute of Technology Lab for Information & Decision Systems CambridgeMA02139 United States Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China Nanyang Technological University School of Electrical and Electronic Engineering 50 Nanyang Avenue 639798 Singapore Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Sweden Digital Futures Stockholm10044 Sweden

This paper considers distributed online convex optimization with time-varying constraints. In this setting, a network of agents makes decisions at each round, and then only a portion of the loss function and a coordinate block of the constraint function are privately revealed to each agent. The loss and constraint functions are convex and can vary arbitrarily across rounds. The agents collaborate to minimize static network regret and network cumulative constraint violation. A novel distributed online algorithm with a vanishing stepsize is proposed and it achieves an O(Tmax {c,1-c}) static network regret bound and an O(T1-c/2) network cumulative constraint violation bound, where T is the number of rounds and c∈ (0,1) is a user-defined trade-off parameter. When Slater's condition holds (i.e, there is a point that strictly satisfies the inequality constraints), the network cumulative constraint violation bound is reduced to O(T1-c). Moreover, if the loss functions are strongly convex, then static network regret bound is reduced to O(log (T)), and the network cumulative constraint violation bound is reduced to O(√log (T)T) and O(log (T)) without and with Slater's condition, respectively. To the best of our knowledge, this paper is the first to achieve tighter (network) cumulative constraint violation bounds for (distributed) online convex optimization with time-varying constraints under Slater's condition. Finally, the theoretical results are verified through numerical simulations. © 1963-2012 IEEE.

关键词： Convex optimization

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A Multi-Player Potential Game Approach for Sensor Network Localization with Noisy Measurements

arXiv

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arXiv 2024年

作者： Xu, Gehui Chen, Guanpu Fidan, Baris Hong, Yiguang Qi, Hongsheng Parisini, Thomas Johansson, Karl H. The Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden The Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada Department of Control Science and Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing China The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The Department of Engineering and Architecture University of Trieste Trieste34127 Italy

Sensor network localization (SNL) is a challenging problem due to its inherent non-convexity and the effects of noise in inter-node ranging measurements and anchor node position. We formulate a non-convex SNL problem as a multi-player non-convex potential game and investigate the existence and uniqueness of a Nash equilibrium (NE) in both the ideal setting without measurement noise and the practical setting with measurement noise. We first show that the NE exists and is unique in the noiseless case, and corresponds to the precise network localization. Then, we study the SNL for the case with errors affecting the anchor node position and the inter-node distance measurements. Specifically, we establish that in case these errors are sufficiently small, the NE exists and is unique. It is shown that the NE is an approximate solution to the SNL problem, and that the position errors can be quantified accordingly. Based on these findings, we apply the results to case studies involving only inter-node distance measurement errors and only anchor position information inaccuracies. Copyright © 2024, The Authors. All rights reserved.

关键词： Sensor nodes

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Invited: Hardware/Software Co-Synthesis and Co-Optimization for Autonomous systems 21

Invited: Hardware/Software Co-Synthesis and Co-Optimization ...

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Proceedings of the 58th Annual ACM/IEEE Design Automation Conference

作者： Wanli Change Shuai Zhao Simon Burton Haitong Wang Ting Chen Nan Chen Neil Audsley College of Computer Science and Electronic Engineering Hunan University China and Department of Computer Science University of York UK Department of Computer Science University of York UK Research Division for Safety Fraunhofer Institute for Cognitive Systems IKS Germany School of Computer Science and Engineering University of Electronic Science and Technology of China China Department of Computer Science University of York UK and School of Mathematics Computer Science and Engineering City University of London UK

ISBN: (纸本)9781665432740

With ever more complicated functionalities being integrated in modern autonomous systems, traditional design methods may not remain sufficient to deliver trusted and highperformance systems with stringent temporal, safety and cost efficiency requirements. In this paper, we discuss the limitations of the traditional design methods with the above requirements enforced, in which hardware and software design are often considered separately. To tackle these limitations, this paper presents a novel design solution that synthesizes both softwarelevel and hardware-level design. First, we highlight and analyze the interconnections between software-level methods (e.g. priority assignment and task allocation) and hardware design (e.g. cache and memory management), in terms of the resulting system performance, e.g. latency. Second, by applying the identified interconnections, we propose an optimization framework to produce high-quality synthesized solutions of both software and hardware design based on a set of candidate design methods. In addition, we describe potential research directions derived from the work and major challenges that can be investigated jointly by engineers and researchers from embedded systems, system safety and programming languages communities.

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A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots

A Generic Trajectory Planning Method for Constrained All-Whe...

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

作者： Ren Xin Hongji Liu Yingbing Chen Jie Cheng Sheng Wang Jun Ma Ming Liu Division of Emerging Interdisciplinary Areas The Hong Kong University of Science and Technology Hong Kong SAR China Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong SAR China Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper presents a generic trajectory planning method for wheeled robots with fixed steering axes while the steering angle of each wheel is constrained. In the existing literatures, All-Wheel-Steering (AWS) robots, incorporating modes such as rotation-free translation maneuvers, in-situ rotational maneuvers, and proportional steering, exhibit inefficient performance due to time-consuming mode switches. This inefficiency arises from wheel rotation constraints and inter-wheel cooperation requirements. The direct application of a holonomic moving strategy can lead to significant slip angles or even structural failure. Additionally, the limited steering range of AWS wheeled robots exacerbates non-linearity characteristics, thereby complicating control processes. To address these challenges, we developed a novel planning method termed Constrained AWS (C-AWS), which integrates second-order discrete search with predictive control techniques. Experimental results demonstrate that our method adeptly generates feasible and smooth trajectories for C-AWS while adhering to steering angle constraints. Code and video can be found at https://***/Rex-sys-hk/AWSPlanning.

关键词： Translation Trajectory planning Wheels Transportation Kinematics Real-time systems Trajectory Mobile robots Robots Predictive control

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RiskMap: A Unified Driving Context Representation for Autonomous Motion Planning in Urban Driving Environment

RiskMap: A Unified Driving Context Representation for Autono...

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IEEE International Conference on Robotics and Biomimetics

作者： Ren Xin Sheng Wang Yingbing Chen Jie Cheng Ming Liu Jun Ma Division of Emerging Interdisciplinary Areas The Hong Kong University of Science and Technology Hong Kong SAR China Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong SAR China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Motion planning is a complicated task that requires the combination of perception, map information integration and prediction, particularly when driving in heavy traffic. Developing an extensible and efficient representation that visualizes sensor noise and provides basis to real-time planning tasks is desirable. We aim to develop an interpretable map representation, which offers prior of driving cost in planning tasks. In this way, we can simplify the planning process for dealing with complex driving scenarios and visualize sensor noise. Specifically, we propose a unified context representation empowered by deep neural networks. The unified representation is a differentiable risk field, which is an analytical representation of statistical cognition regarding traffic participants for downstream planning tasks. This representation method is nominated as RiskMap. A sampling-based planner is adopted to train and compare RiskMap generation methods. In this paper, the RiskMap generation tools and model structures are explored, the results illustrate that our method can improve driving safety and smoothness, and the limitation of our method is also discussed.

关键词： Training Visualization Analytical models Noise Robot sensing systems Real-time systems Planning Safety Driver behavior Tuning

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