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2022 IEEE International Conference on Unmanned Systems, ICUS 2022

作者： Li, Chen Qi, Xuelei Zhao, Juntao Liao, Xuanhong Lin, Zitian Ma, Hongjun Liang, Xinkai College of Information Science and Engineering Northeastern University Shenyang China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong High School Attached to Northeast Normal University International Curriculum Center Changchun China School of Automation Science and Engineering South China University of Technology Guangzhou China Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

How improve the mapping efficiency and location accuracy of the multi-UAV cluster based on the distributed SLAM technology is a significant problem in overlapping regions. Therefore, this paper mainly proposes a novel relocation recognition algorithm for the multi-UAV cluster. First, the autonomous localization algorithm based on visual-inertial fusion is proposed. Then, the algorithm for vocabulary updating and relocating is designed. Finally, practical testing is implemented to verify and improve the efficiency of exploration ability and the accuracy of the autonomous navigation and positioning in the complex overlapping regions. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Scalable Distributed Organizational Structure and Self-Organization Mechanisms for Unmanned System Cluster 9

Scalable Distributed Organizational Structure and Self-Organ...

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9th IEEE International Conference on computer science and Network technology, ICCSNT 2021

作者： Liu, Haibo Lin, Yang Shen, Jing Wang, Xing Shi, Changting Zhang, Jiayu College of Computer Science And Technology Harbin Engineering University Harbin150001 China Science And Technology On Complex System Control Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9781665443647

Reasonable control organizational structure can help an unmanned system cluster cooperate more effectively to complete tasks. Previous research of existing organizational structures has problems implementing the task in a natural environment, such as the cluster's lack of scalability. This paper proposes a three-layer scalable distributed organizational structure and dynamic self-organization mechanisms, which overcomes the lack of scalability and ensures that the cluster can still perform stably after the cluster size changes. The simulation results show that the organizational structure realizes information sharing and cross-layer control, which enhance the flexibility and stability of unmanned system clusters. Comparison results show that our achievements can make a good performance, contributing to this area of future research. © 2021 IEEE.

关键词： Scalability

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A Multi-Player Potential Game Approach for Sensor Network Localization with Noisy Measurements 63

A Multi-Player Potential Game Approach for Sensor Network Lo...

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63rd IEEE Conference on Decision and control, CDC 2024

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

ISBN: (纸本)9798350316339

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 multiplayer 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. © 2024 IEEE.

关键词： Nash equilibrium

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Improved Res2Net Based on Multi-scale Attention Mechanism for Breast Cancer Image Classification 12th

Improved Res2Net Based on Multi-scale Attention Mechanism fo...

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12th International Conference on computer engineering and Networks, CENet 2022

作者： Lei, Suqin Deng, Xing Shao, Haijian Xia, Wang Department of Computer Jiangsu University of Science and Technology Jiangsu Zhenjiang212003 China College of Automation Key Laboratory of Ministry of Education of Complex Engineering System Measurement and Control Southeast University Jiangsu Nanjing210009 China School of Information Science and Technology Nantong University Nantong Jiangsu226019 China Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore

ISBN: (纸本)9789811969003

Breast cancer is one of the most common cancers among female diseases. Since the classification accuracy of pathological images is crucial to the diagnosis of breast cancer, in order to reduce the error of manual diagnosis and improve the automatic classification accuracy of pathological images, this paper proposes a high-accuracy breast cancer classification method based on multi-scale attention mechanism enhanced Res2Net. By constructing a multi-channel residual connection in the residual block, and introducing a convolutional attention mechanism to enhance the feature extraction ability of Res2Net, and using group convolution to replace part of the ordinary convolution. In addition, since the channel information interaction across groups cannot be realized in the group convolution, which reduces the feature extraction ability. In this paper, the channel shuffling operation is used to reorganize the feature maps after the group convolution to achieve the information interaction between different groups. The evaluation results on the BreaKHis dataset show that, the accuracy and precision of the method in this paper have reached 98.5% and 98.9% respectively, in binary classification of histopathological images compared with the benchmark method, and the advantages of recall rate and F1 value are also more obvious. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Image classification

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Environment-Driven Online LiDAR-Camera Extrinsic Calibration

arXiv

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arXiv 2025年

作者： Huang, Zhiwei Li, Jiaqi Zhong, Ping Fan, Rui The Department of Control Science & Engineering The College of Electronics & Information Engineering Tongji University Shanghai201804 China The School of Computer Science and Engineering Central South University Hunan Changsha410083 China The National Key Laboratory of Science and Technology on Automatic Target Recognition National University of Defense Technology Hunan Changsha410073 China The Department of Control Science & Engineering The College of Electronics & Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China The National Key Laboratory of Human-Machine Hybrid Augmented Intelligence Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China

LiDAR-camera extrinsic calibration (LCEC) is the core for data fusion in computer vision. Existing methods typically rely on customized calibration targets or fixed scene types, lacking the flexibility to handle variations in sensor data and environmental contexts. This paper introduces EdO-LCEC, the first environment-driven, online calibration approach that achieves human-like adaptability. Inspired by the human perceptual system, EdO-LCEC incorporates a generalizable scene discriminator to actively interpret environmental conditions, creating multiple virtual cameras that capture detailed spatial and textural information. To overcome cross-modal feature matching challenges between LiDAR and camera, we propose dual-path correspondence matching (DPCM), which leverages both structural and textural consistency to achieve reliable 3D-2D correspondences. Our approach formulates the calibration process as a spatial-temporal joint optimization problem, utilizing global constraints from multiple views and scenes to improve accuracy, particularly in sparse or partially overlapping sensor views. Extensive experiments on real-world datasets demonstrate that EdO-LCEC achieves state-of-the-art performance, providing reliable and precise calibration across diverse, challenging environments. Copyright © 2025, The Authors. All rights reserved.

关键词： Spatio-temporal data

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Clarity Method of Low-illumination and Dusty Coal Mine Images Based on Improved AMEF

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Informatica (Slovenia) 2023年第7期47卷 51-62页

作者： Su, Chang Li, Ziqiang Wei, Zhongliang Xu, Naizhong Yuan, Quan State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mine Anhui University of Science and Technology Huainan China School of Mechanical Engineering Anhui University of Science and Technology Huainan China School of Computer Science and Engineering Anhui University of Science and Technology Huainan China School of Mining Anhui University of Science and Technology Huainan China

The existing image processing methods based on physical models can have a significant impact on defogging performance due to inaccurate estimation of the depth of field information. These methods often encounter problems such as low brightness, invisible color distortion, and loss of detail when processing images with poor lighting conditions, such as those taken in coal mines. To address these issues, this paper proposes a new algorithm based on artificial multi-exposure image fusion. The proposed method performs global exposure on images with uneven illumination by combining S-type functions and the Contrast Limited Adaptive Histogram Equalization (CLAHE) algorithm in the Hue-Saturation-Value (HSV) color space. This reduces the spatial dependence of brightness during processing and avoids color distortion problems that may arise in the Red-Green-Blue (RGB) color space. To mitigate the issue of detail loss, a gradient-domain guided filter is used to preserve fine structures in images, while an improved homomorphic filtering algorithm is introduced during the Laplacian pyramid decomposition process to reduce image content loss arising from large dark areas. This paper also conducted subjective, objective, and computational time comparisons to evaluate performance, providing reliable results regarding speed, quality, and reliability in processing hazy images. © 2023 Slovene Society Informatika. All rights reserved.

关键词： Luminance

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DEEPCON: Improving Distributed Deep Learning Model Consistency in Edge-Cloud Environments via Distillation

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IEEE Transactions on Cognitive Communications and Networking 2025年

作者： Qian, Bin Qian, Jiaxu Wen, Zhenyu Wu, Di He, Shibo Chen, Jiming Ranjan, Rajiv Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou China Zhejiang University of Technology Institute of Cyberspace Security College of Information Engineering Hangzhou China University of St Andrews School of Computer Science United Kingdom Newcastle University United Kingdom

In a typical distributed Deep Learning (DL) based application, models are configured differently to meet the requirements of resource constraints. For instance, a large ResNet56 model is deployed on the cloud server while a small lightweight MobileNet model is more suitable for the end-user device with fewer computation resources. However, the heterogeneity of the model architectures and configurations may bring a systemic problem -models may produce different outputs when given the same input. This inconsistency problem may cause severe system failure of prediction agreement inside the application. Current research has not studied the systemic design for efficiently detecting and reducing the inconsistency among models in distributed DL applications. With the increasing scale of distributed DL applications, the challenges of inconsistency mitigation should consider both algorithm and system design. To this end, we design and implement DEEPCON, an adaptive deployment system across the edge-cloud layer with over-the-air model updates. We implement ASRS sampling for efficiently sampling data to reveal the real data distribution as well as model prediction inconsistency. Then, we implement DMML-Par, an asynchronous parallel training algorithm for quickly updating the models and reducing inconsistency. implements over-the-air updates with a set of APIS to enable seamless inconsistency detection and reduction in such deep learning applications. Our experiment results on both vision and language tasks demonstrate that DMML could improve the model consistency up to 4%, 7%, and 13% at CIFAR10/100 and IMDB datasets without sacrificing the accuracy of individual models. We also show that the ASRS sampling can save 90% network bandwidth of data transmission and that DMML-Par is up to 60% faster compared to simple synchronous parallel training. 2015 IEEE.

关键词： Distributed cloud

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Decentralized Optimization on Compact Submanifolds by Quantized Riemannian Gradient Tracking

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IEEE Transactions on Signal Processing 2025年 73卷 1851-1861页

作者： Chen, Jun Liu, Lina Zhu, Tianyi Liu, Yong Dai, Guang Jiang, Yunliang Tsang, Ivor W. Zhejiang Normal University National Special Education Resource Center for Children with Autism Hangzhou311231 China Zhejiang Normal University School of Computer Science and Technology Jinhua321004 China China Mobile Research Institute Beijing100032 China Zhejiang University Institute of Cyber-Systems and Control Hangzhou310027 China State Grid Corporation of China SGIT AI Lab China Zhejiang Normal University Zhejiang Key Laboratory of Intelligent Education Technology and Application Jinhua321004 China Huzhou University School of Information Engineering Huzhou313000 China Centre for Frontier Artificial Intelligence Research A*STAR Singapore

This paper considers the problem of decentralized optimization on compact submanifolds, where a finite sum of smooth (possibly non-convex) local functions is minimized by n agents forming an undirected and connected graph. However, the efficiency of distributed optimization is often hindered by communication bottlenecks. To mitigate this, we propose the Quantized Riemannian Gradient Tracking (Q-RGT) algorithm, where agents update their local variables using quantized gradients. The introduction of quantization noise allows our algorithm to bypass the constraints of the accurate Riemannian projection operator (such as retraction), further improving iterative efficiency. To the best of our knowledge, this is the first algorithm to achieve an O(1/K) convergence rate in the presence of quantization, matching the convergence rate of methods without quantization. Additionally, we explicitly derive lower bounds on decentralized consensus associated with a function of quantization levels. Numerical experiments demonstrate that Q-RGT performs comparably to non-quantized methods while reducing communication bottlenecks and computational overhead. © 1991-2012 IEEE.

关键词： Iterative methods

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Exploiting Inductive Bias in Transformer for Point Cloud Classification and Segmentation

arXiv

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arXiv 2023年

作者： Li, Zihao Gao, Pan Yuan, Hui Wei, Ran Paul, Manoranjan College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics Nanjing China School of Control Science and Engineering Shandong University Jinan China Science and Technology on Electro-optic Control Laboratory Luoyang China Charles Sturt University Bathurst Australia

Discovering inter-point connection for efficient high-dimensional feature extraction from point coordinate is a key challenge in processing point cloud. Most existing methods focus on designing efficient local feature extractors while ignoring global connection, or vice versa. In this paper, we design a new Inductive Bias-aided Transformer (IBT) method to learn 3D inter-point relations, which considers both local and global attentions. Specifically, considering local spatial coherence, local feature learning is performed through Relative Position Encoding and Attentive Feature Pooling. We incorporate the learned locality into the Transformer module. The local feature affects value component in Transformer to modulate the relationship between channels of each point, which can enhance self-attention mechanism with locality based channel interaction. We demonstrate its superiority experimentally on classification and segmentation tasks. The code is available at: https://***/jiamang/IBT © 2023, CC BY.

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WiWm-EP: Wi-Fi CSI-based Wheat Moisture Detection Using Equivalent Permittivity

WiWm-EP: Wi-Fi CSI-based Wheat Moisture Detection Using Equi...

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2023 IEEE INFOCOM Conference on computer Communications Workshops, INFOCOM WKSHPS 2023

作者： Hu, Pengming Yang, Weidong Wang, Xuyu Mao, Shiwen Shen, Erbo Henan University of Technology Henan Key Laboratory of Grain Photoelectric Detection and Control Zhengzhou450001 China College of Information Science and Engineering Henan University of Technology Zhengzhou450001 China Knight Foundation School of Computing and Information Sciences Florida International University FL33199 United States Auburn University Department of Electrical and Computer Engineering AuburnAL36849-5201 United States

ISBN: (纸本)9781665494274

Moisture content is one of the important indexes of food storage security. The existing detection methods are time-consuming and high cost such that it is difficult to realize online moisture detection. In this paper, according to the dielectric properties of wheat, we propose a wheat moisture content detection system with commercial Wi-Fi devices, termed WiWm-EP. First, we introduce the relationship between the moisture content of wheat and its dielectric constant. Then, we establish an equivalent permittivity (EP) model to characterize wheat moisture content, where the EP can be calculated from channel state information (CSI) of the dual antenna model. Besides, we build the fitting function between the EP and the moisture content as the wheat moisture detection model. Finally, we evaluate the performance of the system through different experiments. The average relative error of the detection results of five wheat samples with different moisture contents is less than 3%. © 2023 IEEE.

关键词： Permittivity

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