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parallel Planning:A New Motion Planning Framework for Autonomous Driving

IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 236-246页

作者： Long Chen Xuemin Hu Wei Tian Hong Wang Dongpu Cao Fei-Yue Wang IEEE School of Data and Computer Science Sun Yat-sen University the School of Computer Science and Information Engineering Hubei University Institute of Measurement and Control Systems Karlsruhe Institute of Technology Department of Mechanical and Mechatronics Engineering University of Waterloo the State Key Laboratory of Management and Control for Complex Systems.Institute of Automation Chinese Academy of Sciences the Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology

Motion planning is one of the most significant technologies for autonomous driving. To make motion planning models able to learn from the environment and to deal with emergency situations, a new motion planning framework called as"parallel planning" is proposed in this paper. In order to generate sufficient and various training samples, artificial traffic scenes are firstly constructed based on the knowledge from the reality.A deep planning model which combines a convolutional neural network(CNN) with the Long Short-Term Memory module(LSTM) is developed to make planning decisions in an end-toend mode. This model can learn from both real and artificial traffic scenes and imitate the driving style of human ***, a parallel deep reinforcement learning approach is also presented to improve the robustness of planning model and reduce the error rate. To handle emergency situations, a hybrid generative model including a variational auto-encoder(VAE) and a generative adversarial network(GAN) is utilized to learn from virtual emergencies generated in artificial traffic scenes. While an autonomous vehicle is moving, the hybrid generative model generates multiple video clips in parallel, which correspond to different potential emergency scenarios. Simultaneously, the deep planning model makes planning decisions for both virtual and current real scenes. The final planning decision is determined by analysis of real observations. Leveraging the parallel planning approach, the planner is able to make rational decisions without heavy calculation burden when an emergency occurs.

关键词： Autonomous driving artificial traffic scene deep learning emergencies motion planning parallel planning

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PERFORMANCE OF GZRP AD HOC ROUTING PROTOCOL

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Journal of Interconnection Networks 2001年第1期2卷 31-48页

作者： AZZEDINE BOUKERCHE STEVE ROGERS Parallel Simulations and Distributed Systems (PARADISE) Research Laboratory Department of Computer Sciences University of North Texas Denton TX 76203 USA

Ad hoc networks are useful for providing communication support where no fixed infrastructure exists or the deployment of a fixed infrastructure is not economically profitable, and movement of communicating parties is allowed. Therefore, such networks are designed to operate in widely varying environments, from military networks to low-power sensor networks and other embedded systems. Frequent topology changes caused by node mobility make routing in ad hoc wireless networks a challenging problem. In this paper, we propose an efficient ad hoc routing algorithm, which we refer to as GZRP, a hybrid protocol that makes use of the ZRP scheme and the Global Positioning System (GPS). As opposed to the ZRP original scheme, our GZRP scheme consists of propagating the routing (query) messages only to the nodes that are further away from the query source. We discuss the algorithm, its implementation, and report on the performance of GZRP scheme, and compare it to the ZRP routing protocol using an extensive simulation experiment. Our results indicate clearly that GZRP outperforms ZRP by reducing significantly the number of route query messages, and thereby increases the efficiency of the network load. Furthermore, we show that careful GPS screening angle is an important factor in the success of the GZRP ad hoc routing protocol.

关键词： Wireless Networks Ad Hoc Routing Protocol Zone Routing Protocol

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LOAD BALANCING FOR parallel PCS NETWORK SIMULATIONS

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Journal of Interconnection Networks 2000年第3期1卷 173-193页

作者： AZZEDINE BOUKERCHE Parallel Simulations and Distributed Systems (PARADISE) Research Laboratory Department of Computer Sciences University of North Texas Denton TX 76203 USA

parallel and distributed simulation techniques have been investigated in a number of studies to decrease the execution times of PCS network simulations. In this paper, we consider distributed simulation of PCS models using a two-state PCS simulation testbed which makes use of a conservative scheme at Stage 1, and of Time Warp at Stage 2, and focus upon the load balancing issue. We investigate and study several load balancing schemes for TDMA systems. Extensive simulation experiments were conducted on a cluster of workstations using a real suburban area serviced by an FCA-based PCS networks. Our results indicate clearly that careful load balancing scheme is important in the success of the PCS simulation model.

关键词： PCS Wireless Networks Time Warp Partitioning parallel Simulation

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Performance comparison and analysis of ad hoc routing algorithms

Performance comparison and analysis of ad hoc routing algori...

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IEEE International Conference on Performance, Computing and Communications (IPCCC)

作者： A. Boukerche Parallel Simulation and Distributed Systems Research Laboratory Department of Computer Science University of North Texas USA

ISBN: (纸本)0780370015

A mobile ad-hoc network (Manet) is a system of wireless mobile nodes dynamically self-organizing in arbitrary and temporary network topologies. People and vehicles can thus be internetworked in areas without a pre-existing communication infrastructure, or when the use of such infrastructure requires wireless extension. Therefore, such networks are designed to operate in widely varying environments, from military networks to low-power sensor networks and other embedded systems. Frequent topology changes caused by node mobility make routing in ad hoc wireless networks a challenging problem. We focus upon routing protocols for ad hoc networks. We study and compare the performance of several routing protocols. A variety of workload and scenarios using a variety of mobility, load and size of the ad hoc network were simulated.

关键词： Performance analysis Algorithm design and analysis Ad hoc networks Network topology Routing protocols Vehicles Internet Mobile communication Wireless sensor networks Sensor systems

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PDP: parallel Dynamic Programming

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IEEE/CAA Journal of Automatica Sinica 2017年第1期4卷 1-5页

作者： Fei-Yue Wang Jie Zhang Qinglai Wei Xinhu Zheng Li Li IEEE State Key Laboratory of Management and Control for Complex Systems(SKL-MCCS) Institute of AutomationChinese Academy of Sciences(CASIA) School of Computer and Control Engineering University of Chinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences(SKL-MCCSCASIA) Qingdao Academy of Intelligent Industries Department of Computer Science and Engineering University of Minnesota Department of Automation Tsinghua University

Deep reinforcement learning is a focus research area in artificial intelligence. The principle of optimality in dynamic programming is a key to the success of reinforcement learning methods. The principle of adaptive dynamic programming ADP is first presented instead of direct dynamic programming DP , and the inherent relationship between ADP and deep reinforcement learning is developed. Next, analytics intelligence, as the necessary requirement, for the real reinforcement learning, is discussed. Finally, the principle of the parallel dynamic programming, which integrates dynamic programming and analytics intelligence, is presented as the future computational intelligence. © 2014 Chinese Association of Automation.

关键词： Artificial intelligence Neural networks Reinforcement learning

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A risk-free multiversion temporally correct algorithm

A risk-free multiversion temporally correct algorithm

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International Symposium on parallel and distributed Processing (IPDPS)

作者： A. Boukerche T. Tuck Department of Computer Sciences Parallel Simulation and Distributed Systems (PARADISE) Research Laboratory University of North Texas USA

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A distributed synchronization scheme for multimedia streams in mobile systems: proof and correctness

A distributed synchronization scheme for multimedia streams ...

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Conference on Local computer Networks (LCN)

作者： A. Boukerche Sungbum Hong T. Jacob Parallel Simulation and Distributed Systems (PARADISE) Research Laboratory Department of Computer Science University of North Texas USA

ISBN: (纸本)0769513212

The rapid development in portable computing platforms, distributed multimedia systems and wireless communication technologies has led to a significant interest in mobile multimedia and wireless networking. Video entertainment and multimedia Internet access over wireless networks are examples of future wireless personal communication systems. These, however, incur challenging technological issues. The synchronization of the multimedia objects among mobile clients is one of the most important of these issues. The task of synchronization in wireless multimedia systems is to eliminate variations and delays incurred during the transmission of multiple-media streams and to maintain the temporal order among the various media streams. We propose an efficient distributed multimedia synchronization algorithm for wireless and mobile multimedia systems to ensure and facilitate mobile clients' access to multimedia objects. We discuss the algorithm and provide its formal proof and correctness.

关键词： Streaming media Multimedia systems Wireless communication computer networks distributed computing Portable computers Communications technology Mobile computing Multimedia computing IP networks

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A simulation based study of on-demand routing protocols for ad hoc wireless networks

A simulation based study of on-demand routing protocols for ...

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Annual Symposium on Simulation

作者： A. Boukerche Parallel Simulation and Distributed Systems PARADISE Research Laboratory Department of Computer Science University of North Texas USA

ISBN: (纸本)0769510922

Ad hoc networks are wireless, mobile networks that can be set up anywhere and anytime without the aid of any established infrastructure or centralized administration. Because of the limited range of each host's wireless transmission, to communicate with hosts outside its transmission range, a host needs to enlist the aid of its nearby hosts in forwarding packets to the destination. However, since there is no stationary infrastructure such as base stations, each host has to act as a router for itself. A routing protocol for ad hoc networks is executed on every host and is therefore subject to the limit of the resources at each mobile host. A good routing protocol should minimize the computing load on the host as well as the traffic overhead on the network. Therefore, a number of routing protocols have been proposed for ad hoc wireless networks. We focus upon on-demand schemes. We study and compare the performance of the following three routing protocols AODV, CBRP and DSR. A variety of workload and scenarios, as characterized by mobility, load and size of the ad hoc network were simulated. Our results indicate that despite its improvement in reducing route request packets, CBRP has a higher overhead than DSR because of its periodic hello messages while AODV's end-to-end packet delay is the shortest when compared to DSR and CBRP.

关键词： Routing protocols Wireless networks Ad hoc networks Computational modeling computer simulation Wireless communication Base stations computer networks Laboratories computer science

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Performance comparison of data distribution management strategies 01

Performance comparison of data distribution management strat...

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International Workshop/Symposium on distributed Simulation and Real-Time Applications (DS-RT)

作者： A. Boukerche C. Dzermajko Parallel Simulation and Distributed Systems PARADISE Research Laboratory Department of Computer Science University of North Texas USA

Abstract: Data Distribution Management (DDM) is a High Level Architecture/Run-time Infrastructure (HLA/RTI) service that manages the distribution of state updates and interaction information in large scale distributed simulations, limits and controls the volume of data exchanged during the simulation. In this paper we focus upon the following three DDM schemes: Region-Based, Fixed and Dynamic Grid-Based techniques. In an effort to determine the most efficient model for applying the DDM service, we developed a mini-RTI Kit framework and propose a set of benchmarks to compare these DDM schemes. Using the RTI Kit, we performed extensive simulation experiments and present our analysis of the results of numerous federation executions.

关键词： distributed decision making Computational modeling computer simulation Discrete event simulation Subscriptions Filtering computer science Large-scale systems Analytical models Performance analysis

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Load balancing study in PCS wireless networks

Load balancing study in PCS wireless networks

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International Conference on parallel Processing Workshops (ICPPW)

作者： A. Boukerche A. Fabbri Parallel Simulations and Distributed Systems (PARADISE) Research Laboratory Department of Computer Scienceu University of North Texas USA

Wireless networking technologies and mobile cellular communication systems are growing at an ever faster rate, and this is likely to continue in the foreseeable future. Higher reliability, better coverage and services, higher capacity, mobility management, and wireless multimedia are all parts of the potpourri. The evolution of new systems and improved designs will always depend on the ability to predict system performance using analytical or simulation methods. To date, mathematical analysis has brought some insight into the design of such systems, but analytical methods are often not general or detailed enough for evaluation and comparison of various proposed mobile and/or wireless systems and their services. distributed simulation techniques have been investigated in a number of studies to decrease the execution times of PCS simulations. We study the load balancing problem for PCS wireless simulation systems, and focus upon static strategies in order to reduce the synchronization overhead of SWiMNet, a parallel PCS simulation testbed developed at UNT.

关键词： Load management Personal communication networks Wireless networks Cellular networks Telecommunication network reliability Mobile radio mobility management System performance Performance analysis Analytical models Predictive models

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