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arXiv 2025年

作者： Sun, Geng Xiao, Jian Li, Jiahui Wang, Jiacheng Kang, Jiawen Niyato, Dusit Mao, Shiwen College of Computer Science and Technology Jilin University Changchun130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China affiliated with the College of Computing and Data Science Nanyang Technological University Singapore639798 Singapore School of Computer Science and Engineering Nanyang Technological University Singapore639798 Singapore School of Automation Guangdong University of Technology Guangzhou510641 China Department of Electrical and Computer Engineering Auburn University AuburnAL36849-5201 United States

Unmanned aerial vehicles (UAVs) have emerged as the potential aerial base stations (BSs) to improve terrestrial communications. However, the limited onboard energy and antenna power of a UAV restrict its communication range and transmission capability. To address these limitations, this work employs collaborative beamforming through a UAV-enabled virtual antenna array to improve transmission performance from the UAV to terrestrial mobile users, under interference from non-associated BSs and dynamic channel conditions. Specifically, we introduce a memory-based random walk model to more accurately depict the mobility patterns of terrestrial mobile users. Following this, we formulate a multi-objective optimization problem (MOP) focused on maximizing the transmission rate while minimizing the flight energy consumption of the UAV swarm. Given the NP-hard nature of the formulated MOP and the highly dynamic environment, we transform this problem into a multi-objective Markov decision process and propose an improved evolutionary multi-objective reinforcement learning algorithm. Specifically, this algorithm introduces an evolutionary learning approach to obtain the approximate Pareto set for the formulated MOP. Moreover, the algorithm incorporates a long short-term memory network and hyper-sphere-based task selection method to discern the movement patterns of terrestrial mobile users and improve the diversity of the obtained Pareto set. Simulation results demonstrate that the proposed method effectively generates a diverse range of non-dominated policies and outperforms existing methods. Additional simulations demonstrate the scalability and robustness of the proposed CB-based method under different system parameters and various unexpected circumstances. © 2025, CC0.

关键词： Unmanned aerial vehicles (UAV)

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Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots

Collaborative Trolley Transportation System with Autonomous ...

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

作者： Bingyi Xia Hao Luan Ziqi Zhao Xuheng Gao Peijia Xie Anxing Xiao Jiankun Wang Max Q.-H. Meng Department of Electronic and Electrical Engineering Shenzhen Key Laboratory of Robotics Perception and Intelligence Southern University of Science and Technology Shenzhen China School of Computing National University of Singapore Singapore Jiaxing Research Institute Southern University of Science and Technology Jiaxing China Department of Electronic Engineering Department of Electrical and Computer Engineering Chinese University of Hong Kong in Hong Kong University of Alberta Canada

Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks, and the experiment results reveal their effectiveness and reliability in complex and dynamic environments. (Video 1 1 Video demonstration: https://***/efnPERm0Rco.)

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RIPPB: A Robust and Improved PBFT Protocol for Blockchain

RIPPB: A Robust and Improved PBFT Protocol for Blockchain

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Meng Ding Heng He Rui Qiao Xiaohu Zhou School of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan China School of Computing Engineering and Built Environment Birmingham City University Birmingham UK

ISBN: (纸本)9781665409858

In this paper, we propose RIPPB, a robust and improved PBFT protocol for Blockchain, to improve the quality of service for blockchain applications. At RIPPB, we introduce reputation for nodes and use reputation as the voting weight for node consensus to go against Sybil attacks. And we design a novel improved logistic regression model to assign reputations to nodes based on their behavior involved in block generation. With this model, nodes performing Stake-grinding attacks and Bribery attacks, face high reputation penalties, which is unacceptable for malicious nodes to reduce the probability of launching these attacks. In addition, RIPPB adds a pre-commit phase to the PBFT algorithm to reduce the number of inter-node communications, thus improving the performance of the protocol. Cost-of-attack analysis shows the high robustness of our protocol. Experimental results show a 28% improvement in the throughput of our protocol over PBFT.

关键词： Industrial electronics Protocols Quality of service Throughput Robustness Blockchains Behavioral sciences

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BLTESTI: Benchmarking Lightweight TinyJAMBU on Embedded Systems for Trusted IoT

BLTESTI: Benchmarking Lightweight TinyJAMBU on Embedded Syst...

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IEEE International SOC Conference

作者： Mohamed El-Hadedy Russell Hua Shahzman Saqib Kazutomo Yoshii Wen-Mei Hwu Martin Margala Department of Electrical and Computer Engineering California State Polytechnic University Pomona USA Coordinated Science Laboratory University of Illinois at Urbana-Champaign USA College of Computing University of Louisiana at Lafayette Louisiana USA Argonne National Laboratory Lemont Illinois USA

Embedded systems face an increasing number of attacks, necessitating improved security measures. However, the physical constraints of these devices often limit the use of traditional cryptographic techniques. To address this challenge, NIST organized a competition focused on lightweight cryptographic algorithms (LWC) tailored for embedded systems, aiming to minimize resource usage in low-power devices. This paper benchmarks the Rust, C, and Golang programming languages, considering their advantages in memory safety, portability, and concurrency, to implement the LWC algorithm finalist named TinyJAMBU. TinyJAMBU utilizes the non-linear feedback shift register (NLFSR) model as a core security element. The evaluation is conducted on embedded systems and FPGAs to determine the optimal strategy for mapping LWC cryptographic algorithms onto resource-constrained devices. Among the three languages, the C-based implementation achieves the highest runtime efficiency, while TinyGo demonstrates the lowest power consumption. Rust falls between the two, indicating trade-offs associated with each language. Despite its larger memory footprint of 73kB, the C-based implementation of TinyJAMBU outperforms other language implementations, achieving a faster runtime of ≈ 81 seconds for the same algorithm and 4-byte message size. Golang exhibits the smallest memory footprint of 19kB, while Rust’s memory footprint falls between the other two at 66kB. Furthermore, implementing TinyJAMBU on an FPGA using software-hardware partitioning with MicroBlaze takes ≈ 6.30 seconds to complete 10,000 encryption and decryption cycles, consuming around 1.09W of power. Although employing a proposed NLFSR co-processor with MicroBlaze for the 128-bit version of TinyJAMBU may not be the fastest approach, the reconfigurable nature of FPGAs allows for replicating the co-processor multiple times, offering significant advantages over the current state-of-the-art architecture of embedded systems.

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RECO-LFSR: Reconfigurable Low-power Cryptographic processor based on LFSR for Trusted IoT platforms

RECO-LFSR: Reconfigurable Low-power Cryptographic processor ...

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IEEE International Symposium on Quality Electronic Design

作者： Mohamed El-Hadedy Russell Hua Kazutomo Yoshii Wen-Mei Hwu Martin Margala Department of Electrical and Computer Engineering California State Polytechnic University Pomona USA Coordinated Science Laboratory University of Illinois at Urbana-Champaign USA College of Computing University of Louisiana at Lafayette Louisiana USA Argonne National Laboratory Lemont Illinois USA

Today we see lightweight computer hardware utilized in large volumes, especially with the growing use of IoT devices in homes. However, such devices often ignore security until it is too late and sensitive data breaches have *** here, the importance of finding lightweight cryptographic primitives to secure IoT devices is exponentially increasing, while not impacting the limited resources and limitation of the battery lifetime. In the search for a lightweight cryptographic standard, one must consider how to implement such algorithms optimally. For example, certain parts of an algorithm might be faster in hardware than in software and vice *** paper presents a hardware extension supporting the MicroBlaze softcore processor to efficiently implement one of the Lightweight Cryptography (LWC) finalists (TinyJAMBU) on Digilent Nexys A7-100T. The proposed hardware extension consists of a reconfigurable Non-Linear Feedback Shift Register (NLFSR), the central computing part for the authenticated encryption with associated data (AEAD) TinyJAMBU. The proposed NLFSR can run different variants of TinyJAMBU while only consuming 186 mWh in just ten minutes at 100 MHz. The total resources needed to host the proposed NLFSR on the FPGA are 610 LUT and 505 Flip-Flops while executable the binary size is 352 bytes smaller. Therefore, the proposed solution based on the hardware extension is x2.17 times faster than the pure software implementation of the whole TinyJAMBU using MicroBlaze while consuming six mWh more. To our knowledge, this is the first implementation of TinyJAMBU using software/hardware partitioning on FPGA with the softcore processor MicroBlaze.

关键词： Microprocessors Software algorithms Shift registers Hardware Software Table lookup Internet of Things

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Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots

arXiv

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arXiv 2023年

作者： Xia, Bingyi Luan, Hao Zhao, Ziqi Gao, Xuheng Xie, Peijia Xiao, Anxing Wang, Jiankun Meng, Max Q.-H. Shenzhen Key Laboratory of Robotics Perception and Intelligence Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Jiaxing Research Institute Southern University of Science and Technology Jiaxing China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Department of Electrical and Computer Engineering The University of Alberta Canada School of Computing National University of Singapore Singapore

— Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks, and the experiment results reveal their effectiveness and reliability in complex and dynamic environments. (Video1) Copyright © 2023, The Authors. All rights reserved.

关键词： Multipurpose robots

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Causally-Aware Unsupervised Feature Selection Learning

arXiv

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arXiv 2024年

作者： Shen, Zongxin Huang, Yanyong Wang, Dongjie Ma, Minbo Lv, Fengmao Li, Tianrui Joint Laboratory of Data Science and Business Intelligence School of Statistics Southwestern University of Finance and Economics Chengdu611130 China Department of Electrical Engineering and Computer Science University of Kansas LawrenceKS66045 United States School of Computing and Artificial Intelligence Southwest Jiaotong University Chengdu611756 China

Unsupervised feature selection (UFS) has recently gained attention for its effectiveness in processing unlabeled high-dimensional data. However, existing methods overlook the intrinsic causal mechanisms within the data, resulting in the selection of irrelevant features and poor interpretability. Additionally, previous graph-based methods fail to account for the differing impacts of non-causal and causal features in constructing the similarity graph, which leads to false links in the generated graph. To address these issues, a novel UFS method, called Causally-Aware UnSupErvised Feature Selection learning (CAUSE-FS), is proposed. CAUSE-FS introduces a novel causal regularizer that reweights samples to balance the confounding distribution of each treatment feature. This regularizer is subsequently integrated into a generalized unsupervised spectral regression model to mitigate spurious associations between features and clustering labels, thus achieving causal feature selection. Furthermore, CAUSE-FS employs causality-guided hierarchical clustering to partition features with varying causal contributions into multiple granularities. By integrating similarity graphs learned adaptively at different granularities, CAUSE-FS increases the importance of causal features when constructing the fused similarity graph to capture the reliable local structure of data. Extensive experimental results demonstrate the superiority of CAUSE-FS over state-of-the-art methods, with its interpretability further validated through feature visualization. Copyright © 2024, The Authors. All rights reserved.

关键词： Contrastive Learning

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An Experimental Study of Two-way Ranging Optimization in UWB-based Simultaneous Localization and Wall-Mapping Systems

An Experimental Study of Two-way Ranging Optimization in UWB...

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International Wireless Communications and Mobile computing Conference, IWCMC

作者： Kai Li Wei Ni Bo Wei Mohsen Guizani Real-Time and Embedded Computing Systems Research Centre (CISTER) Porto Portugal Commonwealth Scientific and Industrial Research Organization (CSIRO) Sydney Australia Computer and Information Sciences Northumbria University UK Computer Science and Engineering Department Qatar University Doha Qatar

In this paper, we propose a new ultra-wideband (UWB)-based simultaneous localization and wall-mapping (SLAM) system, which adopts two-way ranging optimization on UWB anchor and tag nodes to track the target's real-time movement in an unknown area. The proposed UWB-based SLAM system captures time difference of arrival (TDoA) of the anchor nodes' signals over a line-of-sight propagation path and reflected paths. The real-time location of the UWB tag is estimated according to the real-time TDoA measurements. To minimize the estimation error resulting from background noise in the two-way ranging, a Least Squares Method is implemented to minimize the estimation error for the localization of a static target, while Kalman Filter is applied for the localization of a mobile target. An experimental testbed is built based on off-the-shelf UWB hardware. Experiments validate that a reflector, e.g., a wall, and the UWB tag can be located according to the two-way ranging measurement. The localization accuracy of the proposed SLAM system is also evaluated, where the difference between the estimated location and the ground truth trajectory is less than 1 meter.

关键词： Location awareness Estimation error Simultaneous localization and mapping Target tracking real-time systems Distance measurement Trajectory

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Collaborative Reinforcement Learning Based Unmanned Aerial Vehicle (UAV) Trajectory Design for 3D UAV Tracking

arXiv

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arXiv 2024年

作者： Zhu, Yujiao Chen, Mingzhe Wang, Sihua Hu, Ye Liu, Yuchen Yin, Changchuan The Beijing Laboratory of Advanced Information Network Beijing University of Posts and Telecommunications Beijing100876 China The Department of Electrical and Computer Engineering Institute for Data Science and Computing University of Miami Coral GablesFL33146 United States The Department of Industrial and System Engineering University of Miami Coral GablesFL33146 United States The Department of Computer Science North Carolina State University RaleighNC27695 United States

In this paper, the problem of using one active unmanned aerial vehicle (UAV) and four passive UAVs to localize a 3D target UAV in real time is investigated. In the considered model, each passive UAV receives reflection signals from the target UAV, which are initially transmitted by the active UAV. The received reflection signals allow each passive UAV to estimate the signal transmission distance which will be transmitted to a base station (BS) for the estimation of the position of the target UAV. Due to the movement of the target UAV, each active/passive UAV must optimize its trajectory to continuously localize the target UAV. Meanwhile, since the accuracy of the distance estimation depends on the signal-to-noise ratio of the transmission signals, the active UAV must optimize its transmit power. This problem is formulated as an optimization problem whose goal is to jointly optimize the transmit power of the active UAV and trajectories of both active and passive UAVs so as to maximize the target UAV positioning accuracy. To solve this problem, a Z function decomposition based reinforcement learning (ZD-RL) method is proposed. Compared to value function decomposition based RL (VD-RL), the proposed method can find the probability distribution of the sum of future rewards to accurately estimate the expected value of the sum of future rewards thus finding better transmit power of the active UAV and trajectories for both active and passive UAVs and improving target UAV positioning accuracy. Simulation results show that the proposed ZD-RL method can reduce the positioning errors by up to 39.4% and 64.6%, compared to VD-RL and independent deep RL methods, respectively. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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Energy Efficient Probabilistic Semantic Communication over SAGIN

Energy Efficient Probabilistic Semantic Communication over S...

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IEEE Conference on Global Communications (GLOBECOM)

作者： Zhouxiang Zhao Zhaohui Yang Mingzhe Chen Xu Gan Chongwen Huang Wei Xu Zhaoyang Zhang College of Information Science and Electronic Engineering Zhejiang University Hangzhou China Zhejiang Provincial Key Laboratory of Info. Proc. Commun. & Netw. (IPCAN) Hangzhou China Department of Electrical and Computer Engineering and Institute for Data Science and Computing University of Miami Coral Gables FL USA National Mobile Communications Research Laboratory Southeast University Nanjing China

ISBN: (数字)9798350351255

ISBN: (纸本)9798350351262

In this paper, the energy efficiency maximization problem in space-air-ground integrated network (SAGIN)-enabled probabilistic semantic communication (PSC) is investigated. In the considered model, a satellite needs to transmit data to multiple ground terminals (GTs) via an unmanned aerial vehicle (UAV) acting as a relay. During transmission, the satellite and the UAV can use PSC technique to compress the transmitted data, while the GTs can automatically recover the original data. In the considered PSC system, shared probability graphs serve as a common knowledge base among the transceivers, allowing for resource-saving communication at the expense of increased computation resource. Therefore, it is important to study the trade-off between communication and computation to achieve optimal energy efficiency. The joint communication and computation problem is formulated as an optimization problem aiming to minimize the total communication and computation energy consumption of the network under latency, semantic compression ratio, and UAV location constraints. To solve this non-convex problem, we propose an alternating algorithm. Numerical results show the effectiveness of the proposed algorithm.

关键词： Energy consumption Satellites Autonomous aerial vehicles Space-air-ground integrated networks Semantic communication Probabilistic logic Energy efficiency Transceivers Relays Optimization

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