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Limit-Cycle-Based Design of Formation Control for Mobile Agents

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Limit-Cycle-Based Design of Formation Control for Mobile Age...

作者： Wang, Chen Xia, Weiguo Xie, Guangming National Engineering Research Center for Software Engineering Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian116024 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this article, we study the formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations where the distances between neighboring agents or the distances between each agent and the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors, and the acceleration of the target. In order to solve the formation problem, a limit-cycle-based controller design is delivered. We divide the overall control objective into two subobjectives, where the first is target circling that each agent keeps its own desired distance to the static/moving target as well as rotating around or remaining static relative to the target as expected, and the second is distribution adjustment that each agent maintains the desired distance to its neighbors. Then, we propose a controller comprised of two parts, where a limit cycle oscillator named a converging part is designed to deal with the first subobjective, while a layout part is introduced to address the second subobjective. One key merit of the controller is that it can be implemented by each agent in its local frame so that only local information is utilized without knowing global information. Theoretical analysis of the convergence to the desired formation, of which the agents are required to be evenly distributed on a circle around the target, is provided for the multiagent system under the proposed controller. Numerical simulations are given to validate the effectiveness of the proposed controller for the cases of general formations, and to show that no collision between agents ever takes place throughout the system's evolution. © 1963-2012 IEEE.

关键词： Multi agent systems

Supercomputer Supported Online Deep Learning Techniques for High Throughput EEG Prediction

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Supercomputer Supported Online Deep Learning Techniques for ...

IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Xiang Li Yazhou Zhang Jing Li Shandong Computer Science Center (National Supercomputing Center in Jinan) Qilu University of Technology (Shandong Academy of Sciences) China State Key Lab. for Novel Software Technology Nanjing University and Software Engineering College Zhengzhou University of Light Industry China Jiuquan Satellite Launch Center China

ISBN: (纸本)9781665429825

Electroencephalogram (EEG) is a precise reflection of the brain activities and has been widely studied in clinical medicine, neuroscience, brain interface, etc. Intelligent prediction of the EEG’s evolution accurately plays important roles in several application areas, such as epilepsy seizure forecasting and neonatal brain monitoring. Nevertheless, when the prediction service is deployed as a business service on the Cloud and open for public usage, there are several problems that need to be resolved: (i) how to design a computation platform to process the high-throughput multi-source EEG data, which arrives sequentially and increases rapidly when the services are rapidly promoted, namely tackling the ‘high-throughput computing’ problem; (ii) how to develop a deep learning model to capture the complex EEG distribution as well as the anomaly patterns that could evolve dynamically, namely tackling the ‘concept drift’ problem for non-stationary EEG signals. To tackle these challenges, we propose an Evolutive Convolutional Neural Network (ECNN) and the corresponding supercomputer supported distributed computation system. The ECNN model can dynamically reweighting the sub-structure of the model from data streams in an online learning fashion, by which the capacity scalab.lity and sustainability are introduced into the model. As far as we know, it is the first work that introduce supercomputer supported online deep learning techniques into EEG prediction research.

关键词： Deep learning Computational modeling Predictive models Brain modeling Throughput Prediction algorithms Electroencephalography

V2X-Assisted Distributed Computing and Control Framework for Connected and Automated Vehicles under Ramp Merging Scenario

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arXiv 2024年

作者： Wu, Qiong Chu, Jiahou Fan, Pingyi Wang, Kezhi Cheng, Nan Chen, Wen Letaief, Khaled B. The School of Internet of Things Engineering Jiangnan University Wuxi214122 China The Department of Electronic Engineering Beijing National Research Center for Information Science and Technology Tsinghua University Beijing100084 China The Department of Computer Science Brunel University London MiddlesexUB8 3PH United Kingdom The State Key Lab. of ISN School of Telecommunications Engineering Xidian University Xi'An71007l China The Department of Electronic Engineering Shanghai Jiao Tong University Shanghai200240 China Hong Kong

This paper investigates distributed computing and cooperative control of connected and automated vehicles (CAVs) in ramp merging scenario under transportation cyber-physical system. Firstly, a centralized cooperative trajectory planning problem is formulated subject to the safely constraints and traffic performance in ramp merging scenario, where the trajectories of all vehicles are jointly optimized. To get rid of the reliance on a central controller and reduce computation time, a distributed solution to this problem implemented among CAVs through Vehicles-to-Everything (V2X) communication is proposed. Unlike existing method, our method can distribute the computational task among CAVs and carry out parallel solving through V2X communication. Then, a multi-vehicles model predictive control (MPC) problem aimed at maximizing system stability and minimizing control input is formulated based on the solution of the first problem subject to strict safety constants and input limits. Due to these complex constraints, this problem becomes high-dimensional, centralized, and non-convex. To solve it in a short time, a decomposition and convex reformulation method, namely distributed cooperative iterative model predictive control (DCIMPC), is proposed. This method leverages the communication capability of CAVs to decompose the problem, making full use of the computational resources on vehicles to achieve fast solutions and distributed control. The two above problems with their corresponding solving methods form the systemic framework of the V2X assisted distributed computing and control. Simulations have been conducted to evaluate the framework's convergence, safety, and solving speed. Additionally, extra experiments are conducted to validate the performance of DCIMPC. The results show that our method can greatly improve computation speed without sacrificing system performance. Copyright © 2024, The Authors. All rights reserved.

关键词： Predictive control systems

Generalized Face Forgery Detection via Adaptive Learning for Pre-trained Vision Transformer

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arXiv 2023年

作者： Luo, Anwei Cai, Rizhao Kong, Chenqi Ju, Yakun Kang, Xiangui Huang, Jiwu Kot, Alex C. The School of Information Technology Jiangxi University of Finance and Economics Nanchang330013 China The School of Computer Science and Engineering Sun Yat-Sen University Guangzhou510006 China Lab. School of Electrical and Electronic Engineering Nanyang Technology University Singapore The Guangdong Key Laboratory of Intelligent Information Processing National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen518060 China The China-Singapore International Joint Research Institute Singapore

With the rapid progress of generative models, the current challenge in face forgery detection is how to effectively detect realistic manipulated faces from different unseen domains. Though previous studies show that pre-trained Vision Transformer (ViT) based models can achieve some promising results after fully fine-tuning on the Deepfake dataset, their generalization performances are still unsatisfactory. One possible reason is that fully fine-tuned ViT-based models may disrupt the pre-trained features [1], [2] and overfit to some data-specific patterns [3]. To alleviate this issue, we present a Forgery-aware Adaptive Vision Transformer (FA-ViT) under the adaptive learning paradigm, where the parameters in the pre-trained ViT are kept fixed while the designed adaptive modules are optimized to capture forgery features. Specifically, a global adaptive module is designed to model long-range interactions among input tokens, which takes advantage of self-attention mechanism to mine global forgery clues. To further explore essential local forgery clues, a local adaptive module is proposed to expose local inconsistencies by enhancing the local contextual association. In addition, we introduce a fine-grained adaptive learning module that emphasizes the common compact representation of genuine faces through relationship learning in fine-grained pairs, driving these proposed adaptive modules to be aware of fine-grained forgery-aware information. Extensive experiments demonstrate that our FA-ViT achieves state-of-the-arts results in the cross-dataset evaluation, and enhances the robustness against unseen perturbations. Particularly, FA-ViT achieves 93.83% and 78.32% AUC scores on Celeb-DF and DFDC datasets in the cross-dataset evaluation. The code and trained model have been released at: https://***/LoveSiameseCat/FAViT. Copyright © 2023, The Authors. All rights reserved.

关键词： Contrastive Learning

Semi-supervised software vulnerability assessment via code lexical and structural information fusion

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Automated software Engineering 2025年第2期32卷

作者： Pei, Wenlong Huang, Yilin Chen, Xiang Lu, Guilong Liu, Yong Ni, Chao School of Artificial Intelligence and Computer Science Nantong University Jiangsu Nantong226019 China State Key Lab. for Novel Software Technology Nanjing University Jiangsu Nanjing China College of Information Science and Technology Beijing University of Chemical Technology Beijing100029 China School of Software Technology Zhejiang University Zhejiang Hangzhou310058 China

In recent years, data-driven approaches have become popular for software vulnerability assessment (SVA). However, these approaches need a large amount of lab.led SVA data to construct effective SVA models. This process demands security expertise for accurate lab.ling, incurring significant costs and introducing potential errors. Therefore, collecting the training datasets for SVA can be a challenging task. To effectively alleviate the SVA data lab.ling cost, we propose an approach SURF, which makes full use of a limited amount of lab.led SVA data combined with a large amount of unlab.led SVA data to train the SVA model via semi-supervised learning. Furthermore, SURF incorporates lexical information (i.e., treat the code as plain text) and structural information (i.e., treat the code as the code property graph) as bimodal inputs for the SVA model training, which can further improve the performance of SURF. Through extensive experiments, we evaluated the effectiveness of SURF on a dataset that contains C/C++ vulnerable functions from real-world software projects. The results show that only by lab.ling 30% of the SVA data, SURF can reach or even exceed the performance of state-of-the-art SVA baselines (such as DeepCVA and Func), even if these supervised baselines use 100% of the lab.led SVA data. Furthermore, SURF can also exceed the performance of the state-of-the-art Positive-unlab.led learning baseline PILOT when both are trained on 30% of the lab.led SVA data. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2025.

关键词： Semi-supervised learning

The Minority Matters: A Diversity-Promoting Collab.rative Metric Learning Algorithm

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arXiv 2022年

作者： Bao, Shilong Xu, Qianqian Yang, Zhiyong He, Yuan Cao, Xiaochun Huang, Qingming State Key Laboratory of Information Security Institute of Information Engineering CAS China School of Cyber Security University of Chinese Academy of Sciences China Key Lab. of Intelligent Information Processing Institute of Computing Technology CAS China School of Computer Science and Tech. University of Chinese Academy of Sciences China Alibaba Group China School of Cyber Science and Technology Shenzhen Campus Sun Yat-sen University China Key Laboratory of Big Data Mining and Knowledge Management CAS China Peng Cheng Laboratory China

Collab.rative Metric Learning (CML) has recently emerged as a popular method in recommendation systems (RS), closing the gap between metric learning and Collab.rative Filtering. Following the convention of RS, existing methods exploit unique user representation in their model design. This paper focuses on a challenging scenario where a user has multiple categories of interests. Under this setting, we argue that the unique user representation might induce preference bias, especially when the item category distribution is imbalanced. To address this issue, we propose a novel method called Diversity-Promoting Collab.rative Metric Learning (DPCML), with the hope of considering the commonly ignored minority interest of the user. The key idea behind DPCML is to include a multiple set of representations for each user in the system. Based on this embedding paradigm, user preference toward an item is aggregated from different embeddings by taking the minimum item-user distance among the user embedding set. Furthermore, we observe that the diversity of the embeddings for the same user also plays an essential role in the model. To this end, we propose a diversity control regularization term to accommodate the multi-vector representation strategy better. Theoretically, we show that DPCML could generalize well to unseen test data by tackling the challenge of the annoying operation that comes from the minimum value. Experiments over a range of benchmark datasets speak to the efficacy of DPCML. © 2022, CC BY-NC-SA.

关键词： Embeddings

Image-based Pose Representation for Action Recognition and Hand Gesture Recognition

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Image-based Pose Representation for Action Recognition and H...

International Conference on Automatic Face and Gesture Recognition

作者： Zeyi Lin Wei Zhang Xiaoming Deng Cuixia Ma Hongan Wang Beijing Key Lab. of Human-Computer Interactions Institute of Software Chinese Academy of Sciences School of Computer Science and Technology University of Chinese Academy of Sciences

ISBN: (数字)9781728130798

ISBN: (纸本)9781728130804

In this paper, we propose an effective and compact image-based pose representation named Poseimage Pyramid, which encodes the spatial and temporal information of human pose or hand pose as an image pyramid. Poseimage is constructed by the normalized distance between pairwise joints, and it has the advantage of its invariant to similarity transformations. With our Poseimage representation we can design the pose based action recognition or hand gesture recognition model using existing image or video classification models. In order to adapt to different actions with a variety of movement speed, we design Poseimage Pyramid to encode the multi-scale temporal information of human pose or hand pose. Experiments demonstrate that our pose representation is effective, and we achieve state-of-the-art performance on the action recognition datasets and the hand gesture recognition datasets. Our pose presentation is also complementary to video and optical flow streams in the seminal action recognition network I3D, and we achieve the state-of-the-art performance on the JHMDB, HMDB and UCF101 datasets by integrating our pose representation with I3D.

关键词： Gesture recognition Feature extraction Streaming media Image recognition Optical imaging Two dimensional displays Network architecture

Adversarial Learning with Cost-Sensitive Classes

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arXiv 2021年

作者： Shen, Haojing Chen, Sihong Wang, Ran Wang, Xizhao Big Data Institute College of Computer Science and Software Engineering Guangdong Key Lab. of Intelligent Information Processing Shenzhen University Guangdong Shenzhen518060 China The College of Mathematics and Statistics Shenzhen University Shenzhen518060 China The Shenzhen Key Laboratory of Advanced Machine Learning and Applications Shenzhen University Shenzhen518060 China

It is necessary to improve the performance of some special classes or to particularly protect them from attacks in adversarial learning. This paper proposes a framework combining cost-sensitive classification and adversarial learning together to train a model that can distinguish between protected and unprotected classes, such that the protected classes are less vulnerable to adversarial examples. We find in this framework an interesting phenomenon during the training of deep neural networks, called Min-Max property, that is, the absolute values of most parameters in the convolutional layer approach zero while the absolute values of a few parameters are significantly larger becoming bigger. Based on this Min-Max property which is formulated and analyzed in a view of random distribution, we further build a new defense model against adversarial examples for adversarial robustness improvement. An advantage of the built model is that it performs better than the standard one and can combine with adversarial training to achieve an improved performance. It is experimentally confirmed that, regarding the average accuracy of all classes, our model is almost as same as the existing models when an attack does not occur and is better than the existing models when an attack occurs. Specifically, regarding the accuracy of protected classes, the proposed model is much better than the existing models when an attack occurs. © 2021, CC BY.

关键词： Deep neural networks

Finding optimal tangent points for reducing distortions of hard-lab.l attacks 21

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Finding optimal tangent points for reducing distortions of h...

Proceedings of the 35th International Conference on Neural Information Processing systems

作者： Chen Ma Xiangyu Guo Li Chen Jun-Hai Yong Yisen Wang School of Software BNRist Tsinghua University Beijing China Department of Computer Science and Engineering University at Buffalo Buffalo NY Key Lab. of Machine Perception School of Artificial Intelligence Peking University Beijing China and Institute for Artificial Intelligence Peking University Beijing China

ISBN: (纸本)9781713845393

One major problem in black-box adversarial attacks is the high query complexity in the hard-lab.l attack setting, where only the top-1 predicted lab.l is availab.e. In this paper, we propose a novel geometric-based approach called Tangent Attack (TA), which identifies an optimal tangent point of a virtual hemisphere located on the decision boundary to reduce the distortion of the attack. Assuming the decision boundary is locally flat, we theoretically prove that the minimum ℓ2 distortion can be obtained by reaching the decision boundary along the tangent line passing through such tangent point in each iteration. To improve the robustness of our method, we further propose a generalized method which replaces the hemisphere with a semi-ellipsoid to adapt to curved decision boundaries. Our approach is free of pre-training. Extensive experiments conducted on the ImageNet and CIFAR-10 datasets demonstrate that our approach can consume only a small number of queries to achieve the low-magnitude distortion.

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