Trajectory planning in automated driving typically focuses on satisfying safety and comfort requirements within the vehicle's onboard sensor range. This paper introduces a method that leverages anticipatory road data, such as speed limits, road slopes, and traffic lights, beyond the local perception range to optimize energy-efficient braking trajectories. For that, coasting, which reduces energy consumption, and active braking are combined to transition from the current vehicle velocity to a lower target velocity at a given distance ahead. Finding the switching instants between the coasting phases and the continuous control for the braking phase is addressed as an optimal trade-off between maximizing coasting periods and minimizing braking effort. The resulting switched optimal control problem is solved by deriving necessary optimality conditions. To facilitate the incorporation of additional feasibility constraints for multi-phase trajectories, a sub-optimal alternative solution based on parametric optimization is proposed. Both methods are compared in simulation.
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The success of AI models relies on the availability of large, diverse, and high-quality datasets, which can be challenging to obtain due to data scarcity, privacy concerns, and high costs. Synthetic data has emerged as a promising solution by generating artificial data that mimics real-world patterns. This paper provides an overview of synthetic data research, discussing its applications, challenges, and future directions. We present empirical evidence from prior art to demonstrate its effectiveness and highlight the importance of ensuring its factuality, fidelity, and unbiasedness. We emphasize the need for responsible use of synthetic data to build more powerful, inclusive, and trustworthy language models.
Signalized intersections in arterial roads result in persistent vehicle idling and excess accelerations, contributing to fuel consumption and CO2 emissions. There has thus been a line of work studying eco-driving control strategies to reduce fuel consumption and emission levels at intersections. However, methods to devise effective control strategies across a variety of traffic settings remain elusive. In this paper, we propose a reinforcement learning (RL) approach to learn effective eco-driving control strategies. We analyze the potential impact of a learned strategy on fuel consumption, CO2 emission, and travel time and compare with naturalistic driving and model-based baselines. We further demonstrate the generalizability of the learned policies under mixed traffic scenarios. Simulation results indicate that scenarios with 100% penetration of connected autonomous vehicles (CAV) may yield as high as 18% reduction in fuel consumption and 25% reduction in CO2 emission levels while even improving travel speed by 20%. Furthermore, results indicate that even 25% CAV penetration can bring at least 50% of the total fuel and emission reduction benefits.
Hyperproperties are commonly used in computer security to define information-flow policies and other requirements that reason about the relationship between multiple computations. In this paper, we study a novel class of hyperproperties where the individual computation paths are chosen by the strategic choices of a coalition of agents in a multi-agent system. We introduce HyperATL*, an extension of computation tree logic with path variables and strategy quantifiers. Our logic can express strategic hyperproperties, such as that the scheduler in a concurrent system has a strategy to avoid information leakage. HyperATL* is particularly useful to specify asynchronous hyperproperties, i.e., hyperproperties where the speed of the execution on the different computation paths depends on the choices of the scheduler. Unlike other recent logics for the specification of asynchronous hyperproperties, our logic is the first to admit decidable model checking for the full logic. We present a model checking algorithm for HyperATL* based on alternating automata, and show that our algorithm is asymptotically optimal by providing a matching lower bound. We have implemented a prototype model checker for a fragment of HyperATL*, able to check various security properties on small programs.
The development of unmanned aerial vehicles (UAVs) has been gaining momentum in recent years owing to technological advances and a significant reduction in their cost. UAV technology can be used in a wide range of domains, including communication, agriculture, security, and transportation. It may be useful to group the UAVs into clusters/flocks in certain domains, and various challenges associated with UAV usage can be alleviated by clustering. Several computational challenges arise in UAV flock management, which can be solved by using machine learning (ML) methods. In this survey, we describe the basic terms relating to UAVS and modern ML methods, and we provide an overview of related tutorials and surveys. We subsequently consider the different challenges that appear in UAV flocks. For each issue, we survey several machine learning-based methods that have been suggested in the literature to handle the associated challenges. Thereafter, we describe various open issues in which ML can be applied to solve the different challenges of flocks, and we suggest means of using ML methods for this purpose. This comprehensive review may be useful for both researchers and developers in providing a wide view of various aspects of state-of-the-art ML technologies that are applicable to flock management.
We describe ACE0, a lightweight platform for evaluating the suitability and viability of AI methods for behaviour discovery in multiagent simulations. Specifically, ACE0 was designed to explore AI methods for multi-agent simulations used in operations research studies related to new technologies such as autonomous aircraft. Simulation environments used in production are often high-fidelity, complex, require significant domain knowledge and as a result have high R&D costs. Minimal and lightweight simulation environments can help researchers and engineers evaluate the viability of new AI technologies for behaviour discovery in a more agile and potentially cost effective manner. In this paper we describe the motivation for the development of ACE0.We provide a technical overview of the system architecture, describe a case study of behaviour discovery in the aerospace domain, and provide a qualitative evaluation of the system. The evaluation includes a brief description of collaborative research projects with academic partners, exploring different AI behaviour discovery methods.
Graph Convolutional Network (GCN) has been widely applied in transportation demand prediction due to its excellent ability to capture non-Euclidean spatial dependence among station-level or regional transportation demands. However, in most of the existing research, the graph convolution was implemented on a heuristically generated adjacency matrix, which could neither reflect the real spatial relationships of stations accurately, nor capture the multi-level spatial dependence of demands adaptively. To cope with the above problems, this paper provides a novel graph convolutional network for transportation demand prediction. Firstly, a novel graph convolution architecture is proposed, which has different adjacency matrices in different layers and all the adjacency matrices are self-learned during the training process. Secondly, a layer-wise coupling mechanism is provided, which associates the upper-level adjacency matrix with the lower-level one. It also reduces the scale of parameters in our model. Lastly, a unitary network is constructed to give the final prediction result by integrating the hidden spatial states with gated recurrent unit, which could capture the multi-level spatial dependence and temporal dynamics simultaneously. Experiments have been conducted on two real-world datasets, NYC Citi Bike and NYC Taxi, and the results demonstrate the superiority of our model over the state-of-the-art ones.
Since DARPA Grand Challenges (rural) in 2004/05 and Urban Challenges in 2007, autonomous driving has been the most active field of AI applications. Almost at the same time, deep learning has made breakthrough by several pioneers, three of them (also called fathers of deep learning), Hinton, Bengio and LeCun, won ACM Turin Award in 2019. This is a survey of autonomous driving technologies with deep learning methods. We investigate the major fields of self-driving systems, such as perception, mapping and localization, prediction, planning and control, simulation, V2X and safety etc. Due to the limited space, we focus the analysis on several key areas, i.e. 2D and 3D object detection in perception, depth estimation from cameras, multiple sensor fusion on the data, feature and task level respectively, behavior modelling and prediction of vehicle driving and pedestrian trajectories.
The concept of smart grid has been introduced as a new vision of the conventional power grid to figure out an efficient way of integrating green and renewable energy technologies. In this way, Internet-connected smart grid, also called energy Internet, is also emerging as an innovative approach to ensure the energy from anywhere at any time. The ultimate goal of these developments is to build a sustainable society. However, integrating and coordinating a large number of growing connections can be a challenging issue for the traditional centralized grid system. Consequently, the smart grid is undergoing a transformation to the decentralized topology from its centralized form. On the other hand, blockchain has some excellent features which make it a promising application for smart grid paradigm. In this paper, we have an aim to provide a comprehensive survey on application of blockchain in smart grid. As such, we identify the significant security challenges of smart grid scenarios that can be addressed by blockchain. Then, we present a number of blockchain-based recent research works presented in different literatures addressing security issues in the area of smart grid. We also summarize several related practical projects, trials, and products that have been emerged recently. Finally, we discuss essential research challenges and future directions of applying blockchain to smart grid security issues.
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.
Object detection typically assumes that training and test data are drawn from an identical distribution, which, however, does not always hold in practice. Such a distribution mismatch will lead to a significant performance drop. In this work, we aim to improve the cross-domain robustness of object detection. We tackle the domain shift on two levels: 1) the image-level shift, such as image style, illumination, etc, and 2) the instance-level shift, such as object appearance, size, etc. We build our approach based on the recent state-of-the-art Faster R-CNN model, and design two domain adaptation components, on image level and instance level, to reduce the domain discrepancy. The two domain adaptation components are based on H-divergence theory, and are implemented by learning a domain classifier in adversarial training manner. The domain classifiers on different levels are further reinforced with a consistency regularization to learn a domain-invariant region proposal network (RPN) in the Faster R-CNN model. We evaluate our newly proposed approach using multiple datasets including Cityscapes, KITTI, SIM10K, etc. The results demonstrate the effectiveness of our proposed approach for robust object detection in various domain shift scenarios.
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