Connected and automated vehicles (CAVs) have emerged as a potential solution to the future challenges of developing safe, efficient, and eco-friendly transportation systems. However, CAV control presents significant challenges, given the complexity of interconnectivity and coordination required among the vehicles. To address this, multi-agent reinforcement learning (MARL), with its notable advancements in addressing complex problems in autonomous driving, robotics, and human-vehicle interaction, has emerged as a promising tool for enhancing the capabilities of CAVs. However, there is a notable absence of current reviews on the state-of-the-art MARL algorithms in the context of CAVs. Therefore, this paper delivers a comprehensive review of the application of MARL techniques within the field of CAV control. The paper begins by introducing MARL, followed by a detailed explanation of its unique advantages in addressing complex mobility and traffic scenarios that involve multiple agents. It then presents a comprehensive survey of MARL applications on the extent of control dimensions for CAVs, covering critical and typical scenarios such as platooning control, lane-changing, and unsignalized intersections. In addition, the paper provides a comprehensive review of the prominent simulation platforms used to create reliable environments for training in MARL. Lastly, the paper examines the current challenges associated with deploying MARL within CAV control and outlines potential solutions that can effectively overcome these issues. Through this review, the study highlights the tremendous potential of MARL to enhance the performance and collaboration of CAV control in terms of safety, travel efficiency, and economy.
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Linear regression adjustment is commonly used to analyse randomised controlled experiments due to its efficiency and robustness against model misspecification. Current testing and interval estimation procedures leverage the asymptotic distribution of such estimators to provide Type-I error and coverage guarantees that hold only at a single sample size. Here, we develop the theory for the anytime-valid analogues of such procedures, enabling linear regression adjustment in the sequential analysis of randomised experiments. We first provide sequential $F$-tests and confidence sequences for the parametric linear model, which provide time-uniform Type-I error and coverage guarantees that hold for all sample sizes. We then relax all linear model parametric assumptions in randomised designs and provide nonparametric model-free sequential tests and confidence sequences for treatment effects. This formally allows experiments to be continuously monitored for significance, stopped early, and safeguards against statistical malpractices in data collection. A particular feature of our results is their simplicity. Our test statistics and confidence sequences all emit closed-form expressions, which are functions of statistics directly available from a standard linear regression table. We illustrate our methodology with the sequential analysis of software A/B experiments at Netflix, performing regression adjustment with pre-treatment outcomes.
Sensor devices have been increasingly used in engineering and health studies recently, and the captured multi-dimensional activity and vital sign signals can be studied in association with health outcomes to inform public health. The common approach is the scalar-on-function regression model, in which health outcomes are the scalar responses while high-dimensional sensor signals are the functional covariates, but how to effectively interpret results becomes difficult. In this study, we propose a new Functional Adaptive Double-Sparsity (FadDoS) estimator based on functional regularization of sparse group lasso with multiple functional predictors, which can achieve global sparsity via functional variable selection and local sparsity via zero-subinterval identification within coefficient functions. We prove that the FadDoS estimator converges at a bounded rate and satisfies the oracle property under mild conditions. Extensive simulation studies confirm the theoretical properties and exhibit excellent performances compared to existing approaches. Application to a Kinect sensor study that utilized an advanced motion sensing device tracking human multiple joint movements and conducted among community-dwelling elderly demonstrates how the FadDoS estimator can effectively characterize the detailed association between joint movements and physical health assessments. The proposed method is not only effective in Kinect sensor analysis but also applicable to broader fields, where multi-dimensional sensor signals are collected simultaneously, to expand the use of sensor devices in health studies and facilitate sensor data analysis.
In response to the evolving challenges posed by small unmanned aerial vehicles (UAVs), which possess the potential to transport harmful payloads or independently cause damage, we introduce MMAUD: a comprehensive Multi-Modal Anti-UAV Dataset. MMAUD addresses a critical gap in contemporary threat detection methodologies by focusing on drone detection, UAV-type classification, and trajectory estimation. MMAUD stands out by combining diverse sensory inputs, including stereo vision, various Lidars, Radars, and audio arrays. It offers a unique overhead aerial detection vital for addressing real-world scenarios with higher fidelity than datasets captured on specific vantage points using thermal and RGB. Additionally, MMAUD provides accurate Leica-generated ground truth data, enhancing credibility and enabling confident refinement of algorithms and models, which has never been seen in other datasets. Most existing works do not disclose their datasets, making MMAUD an invaluable resource for developing accurate and efficient solutions. Our proposed modalities are cost-effective and highly adaptable, allowing users to experiment and implement new UAV threat detection tools. Our dataset closely simulates real-world scenarios by incorporating ambient heavy machinery sounds. This approach enhances the dataset's applicability, capturing the exact challenges faced during proximate vehicular operations. It is expected that MMAUD can play a pivotal role in advancing UAV threat detection, classification, trajectory estimation capabilities, and beyond. Our dataset, codes, and designs will be available in //github.com/ntu-aris/MMAUD.
Motion prediction has been an essential component of autonomous driving systems since it handles highly uncertain and complex scenarios involving moving agents of different types. In this paper, we propose a Multi-Granular TRansformer (MGTR) framework, an encoder-decoder network that exploits context features in different granularities for different kinds of traffic agents. To further enhance MGTR's capabilities, we leverage LiDAR point cloud data by incorporating LiDAR semantic features from an off-the-shelf LiDAR feature extractor. We evaluate MGTR on Waymo Open Dataset motion prediction benchmark and show that the proposed method achieved state-of-the-art performance, ranking 1st on its leaderboard (//waymo.com/open/challenges/2023/motion-prediction/).
Our work introduces a module for assessing the trajectory safety of autonomous vehicles in dynamic environments marked by high uncertainty. We focus on occluded areas and occluded traffic participants with limited information about surrounding obstacles. To address this problem, we propose a software module that handles blind spots (BS) created by static and dynamic obstacles in urban environments. We identify potential occluded traffic participants, predict their movement, and assess the ego vehicle's trajectory using various criticality metrics. The method offers a straightforward and modular integration into motion planner algorithms. We present critical real-world scenarios to evaluate our module and apply our approach to a publicly available trajectory planning algorithm. Our results demonstrate that safe yet efficient driving with occluded road users can be achieved by incorporating safety assessments into the planning process. The code used in this research is publicly available as open-source software and can be accessed at the following link: //github.com/TUM-AVS/Frenetix-Occlusion.
Testing and evaluating the safety performance of autonomous vehicles (AVs) is essential before the large-scale deployment. Practically, the acceptable cost of testing specific AV model can be restricted within an extremely small limit because of testing cost or time. With existing testing methods, the limitations imposed by strictly restricted testing numbers often result in significant uncertainties or challenges in quantifying testing results. In this paper, we formulate this problem for the first time the "few-shot testing" (FST) problem and propose a systematic FST framework to address this challenge. To alleviate the considerable uncertainty inherent in a small testing scenario set and optimize scenario utilization, we frame the FST problem as an optimization problem and search for a small scenario set based on neighborhood coverage and similarity. By leveraging the prior information on surrogate models (SMs), we dynamically adjust the testing scenario set and the contribution of each scenario to the testing result under the guidance of better generalization ability on AVs. With certain hypotheses on SMs, a theoretical upper bound of testing error is established to verify the sufficiency of testing accuracy within given limited number of tests. The experiments of the cut-in scenario using FST method demonstrate a notable reduction in testing error and variance compared to conventional testing methods, especially for situations with a strict limitation on the number of scenarios.
Autonomous underwater vehicles often perform surveys that capture multiple views of targets in order to provide more information for human operators or automatic target recognition algorithms. In this work, we address the problem of choosing the most informative views that minimize survey time while maximizing classifier accuracy. We introduce a novel active perception framework for multi-view adaptive surveying and reacquisition using side scan sonar imagery. Our framework addresses this challenge by using a graph formulation for the adaptive survey task. We then use Graph Neural Networks (GNNs) to both classify acquired sonar views and to choose the next best view based on the collected data. We evaluate our method using simulated surveys in a high-fidelity side scan sonar simulator. Our results demonstrate that our approach is able to surpass the state-of-the-art in classification accuracy and survey efficiency. This framework is a promising approach for more efficient autonomous missions involving side scan sonar, such as underwater exploration, marine archaeology, and environmental monitoring.
To maintain full autonomy, autonomous robotic systems must have the ability to self-repair. Self-repairing via compensatory mechanisms appears in nature: for example, some fish can lose even 76% of their propulsive surface without loss of thrust by altering stroke mechanics. However, direct transference of these alterations from an organism to a robotic flapping propulsor may not be optimal due to irrelevant evolutionary pressures. We instead seek to determine what alterations to stroke mechanics are optimal for a damaged robotic system via artificial evolution. To determine whether natural and machine-learned optima differ, we employ a cyber-physical system using a Covariance Matrix Adaptation Evolutionary Strategy to seek the most efficient trajectory for a given force. We implement an online optimization with hardware-in-the-loop, performing experimental function evaluations with an actuated flexible flat plate. To recoup thrust production following partial amputation, the most efficient learned strategy was to increase amplitude, increase frequency, increase the amplitude of angle of attack, and phase shift the angle of attack by approximately 110 degrees. In fish, only an amplitude increase is reported by majority in the literature. To recoup side-force production, a more challenging optimization landscape is encountered. Nesting of optimal angle of attack traces is found in the resultant-based reference frame, but no clear trend in amplitude or frequency are exhibited -- in contrast to the increase in frequency reported in insect literature. These results suggest that how mechanical flapping propulsors most efficiently adjust to damage of a flapping propulsor may not align with natural swimmers and flyers.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
Vision-based vehicle detection approaches achieve incredible success in recent years with the development of deep convolutional neural network (CNN). However, existing CNN based algorithms suffer from the problem that the convolutional features are scale-sensitive in object detection task but it is common that traffic images and videos contain vehicles with a large variance of scales. In this paper, we delve into the source of scale sensitivity, and reveal two key issues: 1) existing RoI pooling destroys the structure of small scale objects, 2) the large intra-class distance for a large variance of scales exceeds the representation capability of a single network. Based on these findings, we present a scale-insensitive convolutional neural network (SINet) for fast detecting vehicles with a large variance of scales. First, we present a context-aware RoI pooling to maintain the contextual information and original structure of small scale objects. Second, we present a multi-branch decision network to minimize the intra-class distance of features. These lightweight techniques bring zero extra time complexity but prominent detection accuracy improvement. The proposed techniques can be equipped with any deep network architectures and keep them trained end-to-end. Our SINet achieves state-of-the-art performance in terms of accuracy and speed (up to 37 FPS) on the KITTI benchmark and a new highway dataset, which contains a large variance of scales and extremely small objects.
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