Global navigation satellite systems (GNSSs) are implementing security mechanisms: examples are Galileo open service navigation message authentication (OS-NMA) and GPS chips-message robust authentication (CHIMERA). Each of these mechanisms operates in a single band. However, nowadays, even commercial GNSS receivers typically compute the position, velocity, and time (PVT) solution using multiple constellations and signals from multiple bands at once, significantly improving both accuracy and availability. Hence, cross-authentication checks have been proposed, based on the PVT obtained from the mixture of authenticated and non-authenticated signals. In this paper, first, we formalize the models for the cross-authentication checks. Next, we describe, for each check, a spoofing attack to generate a fake signal leading the victim to a target PVT without notice. We analytically relate the degrees of the freedom of the attacker in manipulating the victim's solution to both the employed security checks and the number of open signals that can be tampered with by the attacker. We test the performance of the considered attack strategies on an experimental dataset. Lastly, we show the limits of the PVT-based GNSS cross-authentication checks, where both authenticated and non-authenticated signals are used.
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In this paper we study function-correcting codes, a new class of codes designed to protect the function evaluation of a message against errors. We show that FCCs are equivalent to irregular-distance codes, i.e., codes that obey some given distance requirement between each pair of codewords. Using these connections, we study irregular-distance codes and derive general upper and lower bounds on their optimal redundancy. Since these bounds heavily depend on the specific function, we provide simplified, suboptimal bounds that are easier to evaluate. We further employ our general results to specific functions of interest and compare our results to standard error-correcting codes, which protect the whole message.
For autonomous driving, radar sensors provide superior reliability regardless of weather conditions as well as a significantly high detection range. State-of-the-art algorithms for environment perception based on radar scans build up on deep neural network architectures that can be costly in terms of memory and computation. By processing radar scans as point clouds, however, an increase in efficiency can be achieved in this respect. While Convolutional Neural Networks show superior performance on pattern recognition of regular data formats like images, the concept of convolutions is not yet fully established in the domain of radar detections represented as point clouds. The main challenge in convolving point clouds lies in their irregular and unordered data format and the associated permutation variance. Therefore, we apply a deep-learning based method introduced by PointCNN that weights and permutes grouped radar detections allowing the resulting permutation invariant cluster to be convolved. In addition, we further adapt this algorithm to radar-specific properties through distance-dependent clustering and pre-processing of input point clouds. Finally, we show that our network outperforms state-of-the-art approaches that are based on PointNet++ on the task of semantic segmentation of radar point clouds.
We extend our previous work on two-party election competition [Lin, Lu & Chen 2021] to the setting of three or more parties. An election campaign among two or more parties is viewed as a game of two or more players. Each of them has its own candidates as the pure strategies to play. People, as voters, comprise supporters for each party, and a candidate brings utility for the the supporters of each party. Each player nominates exactly one of its candidates to compete against the other party's. A candidate is assumed to win the election with higher odds if it brings more utility for all the people. The payoff of each player is the expected utility its supporters get. The game is egoistic if every candidate benefits her party's supporters more than any candidate from the competing party does. In this work, we first argue that the election game always has a pure Nash equilibrium when the winner is chosen by the hardmax function, while there exist game instances in the three-party election game such that no pure Nash equilibrium exists even the game is egoistic. Next, we propose two sufficient conditions for the egoistic election game to have a pure Nash equilibrium. Based on these conditions, we propose a fixed-parameter tractable algorithm to compute a pure Nash equilibrium of the egoistic election game. Finally, perhaps surprisingly, we show that the price of anarchy of the egoistic election game is upper bounded by the number of parties. Our findings suggest that the election becomes unpredictable when more than two parties are involved and, moreover, the social welfare deteriorates with the number of participating parties in terms of possibly increasing price of anarchy. This work alternatively explains why the two-party system is prevalent in democratic countries.
Reliable distributed systems require replication and consensus among distributed processes to tolerate process and communication failures. Understanding and assuring the correctness of protocols for replication and consensus have been a significant challenge. This paper describes the precise specification and runtime checking of Derecho, a more recent, sophisticated protocol for fast replication and consensus for cloud services. A precise specification must fill in missing details and resolve ambiguities in English and pseudocode algorithm descriptions while also faithfully following the descriptions. To help check the correctness of the protocol, we also performed careful manual analysis and increasingly systematic runtime checking. We obtain a complete specification that is directly executable, and we discover and fix a number of issues in the pseudocode. These results were facilitated by the already detailed pseudocode of Derecho and made possible by using DistAlgo, a language that allows distributed algorithms to be easily and clearly expressed and directly executed.
Large Language Models (LLMs) have demonstrated remarkable performance in various tasks and gained significant attention. LLMs are also used for local sequence transduction tasks, including grammatical error correction (GEC) and formality style transfer, where most tokens in a source text are kept unchanged. However, it is inefficient to generate all target tokens because a prediction error of a target token may cause a catastrophe in predicting subsequent tokens and because the computational cost grows quadratically with the target sequence length. This paper proposes to predict a set of edit operations for the source text for local sequence transduction tasks. Representing an edit operation with a span of the source text and changed tokens, we can reduce the length of the target sequence and thus the computational cost for inference. We apply instruction tuning for LLMs on the supervision data of edit operations. Experiments show that the proposed method achieves comparable performance to the baseline in four tasks, paraphrasing, formality style transfer, GEC, and text simplification, despite reducing the length of the target text by as small as 21\%. Furthermore, we report that the instruction tuning with the proposed method achieved the state-of-the-art performance in the four tasks.
Graph clustering, which aims to divide the nodes in the graph into several distinct clusters, is a fundamental and challenging task. In recent years, deep graph clustering methods have been increasingly proposed and achieved promising performance. However, the corresponding survey paper is scarce and it is imminent to make a summary in this field. From this motivation, this paper makes the first comprehensive survey of deep graph clustering. Firstly, the detailed definition of deep graph clustering and the important baseline methods are introduced. Besides, the taxonomy of deep graph clustering methods is proposed based on four different criteria including graph type, network architecture, learning paradigm, and clustering method. In addition, through the careful analysis of the existing works, the challenges and opportunities from five perspectives are summarized. At last, the applications of deep graph clustering in four domains are presented. It is worth mentioning that a collection of state-of-the-art deep graph clustering methods including papers, codes, and datasets is available on GitHub. We hope this work will serve as a quick guide and help researchers to overcome challenges in this vibrant field.
Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT in UAS presents specific challenges such as moving sensor, changing zoom levels, dynamic background, illumination changes, obscurations and small objects. In this work, we present a robust object tracking architecture aimed to accommodate for the noise in real-time situations. We propose a kinematic prediction model, called Deep Extended Kalman Filter (DeepEKF), in which a sequence-to-sequence architecture is used to predict entity trajectories in latent space. DeepEKF utilizes a learned image embedding along with an attention mechanism trained to weight the importance of areas in an image to predict future states. For the visual scoring, we experiment with different similarity measures to calculate distance based on entity appearances, including a convolutional neural network (CNN) encoder, pre-trained using Siamese networks. In initial evaluation experiments, we show that our method, combining scoring structure of the kinematic and visual models within a MHT framework, has improved performance especially in edge cases where entity motion is unpredictable, or the data presents frames with significant gaps.
Neural networks have shown tremendous growth in recent years to solve numerous problems. Various types of neural networks have been introduced to deal with different types of problems. However, the main goal of any neural network is to transform the non-linearly separable input data into more linearly separable abstract features using a hierarchy of layers. These layers are combinations of linear and nonlinear functions. The most popular and common non-linearity layers are activation functions (AFs), such as Logistic Sigmoid, Tanh, ReLU, ELU, Swish and Mish. In this paper, a comprehensive overview and survey is presented for AFs in neural networks for deep learning. Different classes of AFs such as Logistic Sigmoid and Tanh based, ReLU based, ELU based, and Learning based are covered. Several characteristics of AFs such as output range, monotonicity, and smoothness are also pointed out. A performance comparison is also performed among 18 state-of-the-art AFs with different networks on different types of data. The insights of AFs are presented to benefit the researchers for doing further research and practitioners to select among different choices. The code used for experimental comparison is released at: \url{//github.com/shivram1987/ActivationFunctions}.
Large-scale pre-trained models (PTMs) such as BERT and GPT have recently achieved great success and become a milestone in the field of artificial intelligence (AI). Owing to sophisticated pre-training objectives and huge model parameters, large-scale PTMs can effectively capture knowledge from massive labeled and unlabeled data. By storing knowledge into huge parameters and fine-tuning on specific tasks, the rich knowledge implicitly encoded in huge parameters can benefit a variety of downstream tasks, which has been extensively demonstrated via experimental verification and empirical analysis. It is now the consensus of the AI community to adopt PTMs as backbone for downstream tasks rather than learning models from scratch. In this paper, we take a deep look into the history of pre-training, especially its special relation with transfer learning and self-supervised learning, to reveal the crucial position of PTMs in the AI development spectrum. Further, we comprehensively review the latest breakthroughs of PTMs. These breakthroughs are driven by the surge of computational power and the increasing availability of data, towards four important directions: designing effective architectures, utilizing rich contexts, improving computational efficiency, and conducting interpretation and theoretical analysis. Finally, we discuss a series of open problems and research directions of PTMs, and hope our view can inspire and advance the future study of PTMs.
We survey research on self-driving cars published in the literature focusing on autonomous cars developed since the DARPA challenges, which are equipped with an autonomy system that can be categorized as SAE level 3 or higher. The architecture of the autonomy system of self-driving cars is typically organized into the perception system and the decision-making system. The perception system is generally divided into many subsystems responsible for tasks such as self-driving-car localization, static obstacles mapping, moving obstacles detection and tracking, road mapping, traffic signalization detection and recognition, among others. The decision-making system is commonly partitioned as well into many subsystems responsible for tasks such as route planning, path planning, behavior selection, motion planning, and control. In this survey, we present the typical architecture of the autonomy system of self-driving cars. We also review research on relevant methods for perception and decision making. Furthermore, we present a detailed description of the architecture of the autonomy system of the UFES's car, IARA. Finally, we list prominent autonomous research cars developed by technology companies and reported in the media.
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