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Toward High-Accuracy and Low-Latency Group Vehicle Trajectory Prediction With Linear UNet-Enhanced Fully Connected Spatial–Temporal Graph Neural Network

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IEEE Internet of Things Journal 2025年第9期12卷 11797-11811页

作者： Zhang, Zirui Huang, Xumin Yu, Rong Wu, Maoqiang Kang, Jiawen Xie, Shengli Guangdong University of Technology School of Automation Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education Guangdong Provincial Key Laboratory of Intelligent Systems and Optimization Integration Guangzhou510006 China South China Normal University School of Electronic Science and Engineering Foshan528225 China Guangdong University of Technology School of Automation 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China

Group vehicle trajectory prediction (GVTP) is important for analyzing the traffic states and optimizing the traffic management. However, existing studies have performance bottlenecks in the prediction accuracy and inference latency. To tackle the problems, we propose a linear UNet-enhanced fully connected spatial–temporal GNN (LUFC-STGNN) for GVTP. First, a spatial graph is constructed by integrating prior-based and data-driven methods to capture both explicit and implicit spatial interactions between the vehicles. After that, a comprehensive temporal graph is created to capture the varying strengths of temporal interactions between all vehicles throughout historical timestamps. Furthermore, a fully connected spatial–temporal graph combining the spatial and temporal graphs is introduced to extract the effective spatial–temporal interaction features of the vehicles through the graph convolution operation. Finally, a linear UNet-based temporal dependency encoder (LU-TDE) is designed to further enhance the model’s ability of capturing the potential temporal patterns in the vehicle interactions. The encoder with linear complexity explores the multiscale temporal dependencies from the spatial–temporal interaction features but also reducing the inference latency. Experiments results based on real-world datasets show that compared to state-of-the-art models, our model reduces the average root mean square error over the 5-s prediction horizon by 31% and 10% on the NGSIM and HighD datasets, while reducing the inference latency by at least 1.26 times. © 2014 IEEE.

关键词： Prediction models

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C2P-Net: Comprehensive Depth Map to Planar Depth Conversion for Room Layout Estimation

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2025年 PP卷 PP页

作者： Zhang, Weidong Zhou, Mengjie Cheng, Jiyu Liu, Ying Zhang, Wei Xi'an University of Posts & Telecommunications School of Communications and Information Engineering China Xi'an Key Laboratory of Image Processing Technology and Applications for Public Security China Shandong University School of Control Science and Engineering China Ministry of Education Key Laboratory of Machine Intelligence and System Control China

Room layout estimation seeks to infer the overall spatial configuration of indoor scenes using perspective or panoramic images. As the layout is determined by the dominant indoor planes, this problem inherently requires the reconstruction of these planes. Some studies reconstruct indoor planes from perspective images by learning pixel-level or instance-level plane parameters. However, directly learning these parameters has the problems of susceptibility to occlusions and position dependency. In this paper, we introduce the Comprehensive depth map to Planar depth (C2P) conversion, which reformulates planar depth reconstruction into the prediction of a comprehensive depth map and planar visibility confidence. Based on the parametric representation of planar depth we propose, the C2P conversion is applicable to both panoramic and perspective images. Accordingly, we present an effective framework for room layout estimation that jointly learns the comprehensive depth map and planar visibility confidence. Due to the differentiability of the C2P conversion, our network autonomously learns planar visibility confidence by constraining the estimated plane parameters and reconstructed planar depth map. We further propose a novel approach for 3D layout generation through sequential planar depth map integration. Experimental results demonstrate the superiority of our method across all evaluated panoramic and perspective datasets. © 1979-2012 IEEE.

关键词： Image-Text Matching Medical Report Generation Sample-graph Consistency Self-boosting framework

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Online Flow Scheduling in Virtualized Time-Sensitive Networks: A Joint Admission control and VNF Embedding Approach

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IEEE Transactions on Mobile Computing 2025年第6期24卷 4651-4667页

作者： Zhang, Yajing Chen, Cailian Li, Mingyan You, Chaoqun Guan, Xinping Quek, Tony Q. S. Shanghai Satellite Network Research Institute Co. Ltd. Shanghai200120 China Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Chongqing University College of Computer Science Chongqing400044 China Fudan University School of Computer Science Shanghai200433 China Singapore University of Technology and Design 487372 Singapore

Time-sensitive networking (TSN) is proposed to satisfy the increasingly stringent demands of Industrial 4.0 for deterministic transmission. This is achieved by generating a series of centrally configured gate control lists to strictly restrict the forwarding time of arriving flows. However, such a centralized scheme requires prior information of all flows, severely impeding TSN from providing an online response to dynamic industrial applications. To solve this problem, we innovatively propose to use admission control (AC) to realize deterministic transmission in the virtualized TSN network. In this approach, AC is distributively executed on each node and link, whereby flows of applications are served by passing through a series of virtual network functions (VNFs). This distributed AC execution is regarded as a VNF embedding (VNE) process. Specifically, we propose a two-stage online framework, Smart Admission control (SmartAC), to cater to dynamic applications. The first stage, referred to as the static stage, obtains a deterministic VNE solution by synthesizing AC decisions of individual TSN nodes and links. The second stage, referred to as the dynamic stage, fine-tunes VNE solutions obtained from the static stage to adapt to the harsh environment with insufficient resources or limited VNF migration budgets. Simulation results demonstrate the effectiveness of SmartAC in improving response rate and resource utilization ratio. Notably, SmartAC reduces runtime by 90% compared to existing algorithms and exhibits robustness across different network topologies. © 2002-2012 IEEE.

关键词： Budget control

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Bilateral Pricing for Dynamic Association in Federated Edge Learning

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IEEE Transactions on Mobile Computing 2025年第6期24卷 4684-4697页

作者： Pan, Bangqi Lu, Jianfeng Cao, Shuqin Liu, Jing Tian, Wenlong Li, Minglu Wuhan University of Science and Technology School of Computer Science and Technology Wuhan430065 China Wuhan University of Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System China Dalian University of Technology Ministry of Education Key Laboratory of Social Computing and Cognitive Intelligence China University of South China School of Computer Science and Technology Hengyang421001 China Zhejiang Normal University School of Computer Science and Technology Jinhua321004 China

Devices and servers in Federated Edge Learning (FEL) are self-interested and resource-constrained, making it critical to design incentives to improve model performance. However, dynamic network conditions raise energy consumption, while data heterogeneity undermines device cooperation. Current research overlooks the interplay between system efficiency and device clustering, resulting in suboptimal updates. To address these challenges, we develop BENCH, a bilateral pricing mechanism consisting of three core rules aimed at incentivizing participation from both devices and servers. Specifically, we first design a reward allocation rule, based on the Rubinstein bargaining model, which dynamically allocates rewards. Theoretically, we derive a closed-form solution for this rule, demonstrating BENCH achieves Nash equilibrium. Secondly, we design a device partitioning rule that leverages modularity to group similar devices, facilitating personalized edge aggregation to accelerate local data adaptation. Thirdly, we design an edge matching rule that employs the Kuhn-Munkres algorithm to balance the load at edge servers, thus minimizing the congestion. Together, these three rules enable hierarchical optimization of pricing and associations, effectively mitigating the impact of dynamic costs and device heterogeneity. Extensive experiments demonstrate BENCH's effectiveness in increasing device participation by 28.81% and improving model performance by 2.66% compared to state-of-the-art baselines. © 2002-2012 IEEE.

关键词： Mobile edge computing

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A third-party platoon coordination service: Pricing under government subsidies

A third-party platoon coordination service: Pricing under go...

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作者： Bai, Ting Johansson, Alexander Li, Shaoyuan Johansson, Karl Henrik Mårtensson, Jonas School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden KTH Royal Institute of Technology Stockholm Sweden Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Digital Futures Stockholm Sweden

This paper models a platooning system consisting of trucks and a third-party service provider (TPSP), which performs platoon coordination, distributes the platooning profit in platoons, and charges trucks in exchange for the services. Government subsidies used to incentivize platooning are also considered. We propose a pricing rule for the TPSP, which keeps part of the platooning profit including the subsidy each time a platoon is formed. In addition, a platoon coordination solution based on the distributed model predictive control (MPC) is proposed, in which the pricing rule under government subsidies is integrated. We perform a realistic simulation over the Swedish road network to evaluate the impact of the pricing rule and subsidies on the achieved profits and fuel savings. Our results show that subsidies are an effective mean to boost fuel savings from platooning. Moreover, the simulation study indicates that high pricing corresponds to a low platooning rate of the system, as trucks' incentives for platooning decrease. © 2023 The Authors. Asian Journal of control published by John Wiley & Sons Australia, Ltd on behalf of Chinese Automatic control Society.

关键词： Trucks

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Isolated FeN_(3)sites anchored hierarchical porous carbon nanoboxes for hydrazine-assisted rechargeable Zn-CO_(2)batteries with ultralow charge voltage

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Carbon Energy 2025年第1期7卷 121-132页

作者： Sanshuang Gao Hongyi Li Zhansheng Lu Songjie Meng Xue Zhao Xinzhong Wang Xijun Liu Guangzhi Hu Shenzhen Institute of Information Technology Shenzhen 518172China State Key Laboratory of Featured Metal Materials and Life-cycle Safety for Composite Structures Guangxi Key Laboratory of Processing for Nonferrous Metals and Featured MaterialsSchool of ResourcesEnvironment and MaterialsGuangxi UniversityNanning 530004China School of Ecology and Environmental Science Institute for Ecological Research and Pollution Control of Plateau LakesYunnan UniversityKunming650504China State Key Laboratory of Chemistry and Utilization of Carbon Based Energy Resources College of ChemistryXinjiang UniversityUrumqiChina School of Physics Henan Normal UniversityXinxiangChina Faculty of Chemistry and Chemical Engineering Yunnan Normal UniversityKunmingChina

Zn-CO_(2)batteries(ZCBs)are promising for CO_(2)conversion and electric energy ***,the ZCBs couple the electrochemical CO_(2)reduction(ECO_(2)R)with the oxygen evolution reaction and competitive hydrogen evolution reaction,which normally causes ultrahigh charge voltage and CO_(2)conversion efficiency attenuation,thereby resulting in~90%total power ***,isolated FeN_(3)sites encapsulated in hierarchical porous carbon nanoboxes(Fe-HPCN,derived from the thermal activation process of ferrocene and polydopamine-coated cubic ZIF-8)were proposed for hydrazine-assisted rechargeable ZCBs based on ECO_(2)R(discharging process:CO_(2)+2H+→CO+H_(2)O)and hydrazine oxidation reaction(HzOR,charging process:N_(2)H4+4OH−→N_(2)+4H_(2)O+4e^(−)).The isolated FeN_(3)endows the HzOR with a lower overpotential and boosts the ECO_(2)R with a 96%CO Faraday efficiency(FECO).Benefitting from the bifunctional ECO_(2)R and HzOR catalytic activities,the homemade hydrazine-assisted rechargeable ZCBs assembled with the Fe-HPCN air cathode exhibited an ultralow charge voltage(decreasing by~1.84 V),excellent CO selectivity(FECO close to 100%),and high 89%energy *** situ infrared spectroscopy confirmed that Fe-HPCN can generate rate-determining*N_(2)and*CO intermediates during HzOR and ECO_(2)*** paper proposes FeN_(3)centers for bifunctional ECO_(2)R/HzOR performance and further presents the pioneering achievements of ECO_(2)R and HzOR for hydrazine-assisted rechargeable ZCBs.

关键词： electrochemical CO_(2)reduction Fe single atoms hierarchical porous carbon nanoboxes hydrazine-assisted Zn-CO_(2)batteries hydrazine oxidation reaction

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Non-Line-of-Sight Multipath Classification Method for BDS Using Convolutional Sparse Autoencoder with LSTM

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Tsinghua Science and Technology 2025年第1期30卷 68-86页

作者： Yahang Qin Zhenni Li Shengli Xie Bo Li Ming Liu Victor Kuzin School of Automation Guangdong University of Technologyand also with Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete ManufacturingGuangzhou 510006China School of Automation Guangdong University of TechnologyGuangdong Key Laboratory of IoT Information TechnologyGuangzhou 510006China 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Key Laboratory of Intelligent Information Processing and System Integration of IoTMinistry of EducationGuangzhou 510006China Department of Electronic and Computer Engineering Hong Kong University of Science and TechnologHong Kong 999077China Academician of Russian Engineering Academy Moscow Moscow 125009Russia

Multipath signal recognition is crucial to the ability to provide high-precision absolute-position services by the BeiDou Navigation Satellite system(BDS).However,most existing approaches to this issue involve supervised machine learning(ML)methods,and it is difficult to move to unsupervised multipath signal recognition because of the limitations in signal *** by an autoencoder with powerful unsupervised feature extraction,we propose a new deep learning(DL)model for BDS signal recognition that places a long short-term memory(LSTM)module in series with a convolutional sparse autoencoder to create a new autoencoder ***,we propose to capture the temporal correlations in long-duration BeiDou satellite time-series signals by using the LSTM module to mine the temporal change patterns in the time ***,we develop a convolutional sparse autoencoder method that learns a compressed representation of the input data,which then enables downscaled and unsupervised feature extraction from long-duration BeiDou satellite series ***,we add an l_(1/2) regularizer to the objective function of our DL model to remove redundant neurons from the neural network while ensuring recognition *** tested our proposed approach on a real urban canyon dataset,and the results demonstrated that our algorithm could achieve better classification performance than two ML-based methods(e.g.,11%better than a support vector machine)and two existing DL-based methods(e.g.,7.26%better than convolutional neural networks).

关键词： convolutional sparse autoencoder BeiDou Navigation Satellite system(BDS) long short-term memory(LSTM) multipath classification

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Distributionally Robust control Synthesis for Stochastic systems with Safety and Reach-Avoid Specifications

arXiv

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arXiv 2025年

作者： Chen, Yu Li, Yuda Li, Shaoyuan Yin, Xiang Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

We investigate the problem of synthesizing distributionally robust control policies for stochastic systems under safety and reach-avoid specifications. Using a game-theoretical framework, we consider the setting where the probability distribution of the disturbance at each time step is selected from an ambiguity set defined by the Wasserstein distance. The goal is to synthesize a distributionally robust control policy that ensures the satisfaction probability exceeds a specified threshold under any distribution within the ambiguity set. First, for both safety and reach-avoid specifications, we establish the existence of optimal policies by leveraging the dynamic programming principles. Then we demonstrate how the associated optimization problem can be efficiently solved using the dual representation of Wasserstein distributionally robust optimization. Furthermore, for safety specifications in particular, we introduce a novel concept of distributionally robust control barrier certificates and show how these enable the efficient synthesis of controllers through sum-of-squares programming techniques. Finally, our experimental results reveal that incorporating distributional robustness during the synthesis phase significantly improves the satisfaction probability during online execution, even with limited statistical knowledge of the disturbance distribution. Copyright © 2025, The Authors. All rights reserved.

关键词： Stochastic systems

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Optimizing Fixed-Time Generalized Nash Equilibrium Seeking in Multi-Unmanned Aerial Vehicle Games

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Hua, Menghu Yao, Xiang-Yu Liu, Wen-Jin Geng, Mei-Jie Lv, Maolong China University of Geosciences School of Mechanical Engineering and Electronic Information Wuhan430074 China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai 200240 China Air Force Engineering University College of Air Traffic Control and Navigation Xi'an710038 China

This study addresses a fixed-time generalized noncooperative game involving multiple unmanned aerial vehicles (UAVs) that encounter challenges such as discontinuous communication and external disturbances. Each UAV, motivated by selfinterest, seeks to optimize its performance function by adjusting its actions within shared equality and inequality constraints. To facilitate this, a fixed-time generalized Nash equilibrium (GNE) seeking algorithm is proposed for games with shared equality constraints, incorporating an internal dynamic system to ensure compliance with these constraints. By employing penalty methods, an auxiliary performance function is developed to manage games with mixed constraints. Furthermore, an error decomposition method and a fixed-time observer are introduced to address the issues of discontinuous communication and external disturbances. The study establishes sufficient conditions for the convergence of the fixed-time GNE seeking algorithm and provides an explicit upper bound on the settling time based on Lyapunov stability theory. The effectiveness of the proposed algorithms is demonstrated through various simulation examples. © 1965-2011 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Target extraction based on hybrid domain features of array GM-APD lidar 10

Target extraction based on hybrid domain features of array G...

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10th Symposium on Novel Optoelectronic Detection Technology and Applications

作者： Zhang, Xin Li, Sining Sun, Jianfeng Jiang, Peng Jin, Haowei National Key Laboratory of Laser Spatial Information Institute of Opto-Electronic Harbin Institute of Technology Heilongjiang Harbin150001 China Zhengzhou Research Institute of Harbin Institute of Technology Henan Zhengzhou450000 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing100074 China

ISBN: (数字)9781510688155

ISBN: (纸本)9781510688148

This study proposes a target extraction algorithm for array GM-APD lidar based on hybrid domain features, designed to address the challenges of accurately extracting target region based on the image in complex scenes and high noise interference. We extracted the temporal features of the echo signals and transformed the echo signals into the image domain to enhance the information content and further extract image features. By integrating multi-view K-means clustering and AdaBoost classification methods, we introduced a dynamic weight adjustment mechanism and a region adjustment method based on a correlation coefficient to achieve pixel-type discrimination and target region extraction. Experimental results demonstrate that the proposed method exhibits good robustness and adaptability in complex detection environments. Under conditions of different occlusion, different signal-to-noise ratios, and different target reflectivity, the proposed algorithm significantly outperforms traditional region-growing segmentation methods in terms of accuracy of target region extraction. © 2025 SPIE.

关键词： K-means clustering

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