Paper presents a TL approach to reduce drone training time and energy consumption.
problem Limited power and compute capability of edge drones.
method Transfer Learning for deep neural network training via Deep Reinforcement Learning.
result 3.7x reduction in energy consumption and 1.8x reduction in training latency.
Deep RL drone trained to compete against classical path planning in drone racing.
problem Optimizing long-term drone racing strategies using reinforcement learning.
method Used PPO algorithm on a simulated quadrotor in a racing environment created with AirSim.
result Deep RL agent outperformed classical path planning in drone racing competitions.
Solves challenges of drone communication in cellular networks.
problem Interference from drones to base stations in cellular networks.
method Derived analytical models, formulated optimization problem, transformed into machine learning problem, solved using deep reinforcement learning.
result Optimal handover and resource management policies for drones in cellular networks.
A drone catches another agile drone using competitive reinforcement learning.
problem Intercepting an agile drone with another agile drone.
method Formulated as a Competitive Reinforcement Learning problem, trained with PPO, using a high-fidelity simulation environment.
result Trained policies outperform common heuristic baselines in catch rate, time to catch, and crash rate.
Deep Q-learning optimizes same-day delivery with vehicles and drones.
problem Optimizing same-day delivery with limited vehicle and drone capacities.
method Deep Q-learning approach to assign packages to vehicles or drones.
result Deep Q-learning policy outperforms benchmark policies and maintains effectiveness with changing fleet sizes.
Drone optimizes collaborative learning for neural networks.
problem Training a shared neural network with heterogeneous data from multiple devices.
method Drone collects and aggregates model parameters from devices, optimizing trajectory for best accuracy.
result Significant improvement in final accuracy and speedup in training time.
AMS improves video inference on edge devices by adapting a small model with online knowledge distillation.
problem High computation cost of Deep Neural Networks for real-time video inference on edge devices.
method AMS uses a remote server to continually train and adapt a small model on edge devices, using online knowledge distillation from a large model.
result 0.4--17.8 percent mean Intersection-over-Union improvement in video semantic segmentation.
A drone-based MOT algorithm tracks vehicles using neural network detections and TPMBM filter.
problem Tracking multiple vehicles from drone-mounted cameras.
method Neural network for object detection, TPMBM filter for trajectory estimation, von-Mises Fisher distribution for DOA.
result TPMBM filter optimally estimates vehicle trajectories.
Two approaches scale up DNN optimization for diverse edge devices.
problem Optimizing DNNs for edge devices with varying performance requirements.
method Reuse performance predictors on proxy devices and build scalable predictors.
result Optimized DNN designs for many different edge devices without lengthy optimization.
We present NAVREN-RL, an approach to NAVigate an unmanned aerial vehicle in an indoor Real ENvironment via end-to-end reinforcement learning RL. A suitable reward function is designed keeping in mind the cost and weight constraints for micro drone with minimum number of sensing modalities. Collection of small number of…
Deep reinforcement learning controls drones without model knowledge.
problem Real-time robot control without engineered models.
method Learnt probabilistic model of drone dynamics, model-based reinforcement learning.
result Controller and value function optimized through generated latent trajectories.
A new method for drone-based geo-localization using style and spatial alignment.
problem Geo-localization of drone-view images with satellite-view images using pre-annotated GPS tags.
method Orientation-based method to align patterns, new branch to extract aligned partial features, style alignment strategy.
result The proposed method outperforms state-of-the-art alternatives in geo-localization accuracy.
This paper explores formal verification for autonomous systems, identifying limitations and proposing improvements.
problem Ensuring safety of autonomous systems like self-driving cars and drones.
method Formal verification techniques based on formal methods, analyzing three assumptions and their limitations.
result Preliminary work to improve the strength of evidence provided by formal verification.
Meta-learning improves drone trajectory design for dynamic wireless networks.
problem Designing optimal trajectories for energy-constrained drones in dynamic network environments.
method Proposes a meta-learning algorithm to adaptively tune a reinforcement learning solution for trajectory design.
result Meta-tuned RL yields faster convergence and improved communication performance compared to baseline algorithms.
Augment small datasets with synthetic backgrounds to train lightweight CNNs for human pose estimation.
problem Training CNNs from limited real-world data for human pose estimation.
method Synthetic background substitution for data augmentation.
result Improves generalization to unseen environments.
New algorithm learns uncertainty for edge devices.
problem Uncertainty handling for edge devices in critical applications.
method e-prop 1 algorithm with Broadcast Alignment and local information.
result Algorithm can learn uncertainty locally, improving decision-making.
The paper detects amateur drones using acoustic signals, overcoming interference.
problem Detection of unmonitored UAVs (amateur drones) for security and safety.
method Machine learning approach using Independent Component Analysis (ICA) for acoustic signal detection.
result The RMS values of PSD with KNN outperform other methods in detecting AmDr.
CitySim dataset captures vehicle trajectories for safety research.
problem Lack of fine-grain vehicle trajectories for safety-oriented research.
method Five-step procedure: video stabilization, object filtering, stitching, detection, and error filtering.
result CitySim dataset improves safety evaluations and facilitates digital-twin research.
The stringent requirements for low-latency and privacy of the emerging high-stake applications with intelligent devices such as drones and smart vehicles make the cloud computing inapplicable in these scenarios. Instead, edge machine learning becomes increasingly attractive for performing training and inference directl…
We introduce a spatio-temporal convolutional neural network model for trajectory forecasting from visual sources. Applied in an auto-regressive way it provides an explicit probability distribution over continuations of a given initial trajectory segment. We discuss it in relation to (more complicated) existing work and…
This dissertation uses deep reinforcement learning to improve drone flight control.
problem Inadequate traditional control methods for unpredictable CPS interactions.
method Developed a full solution stack for neuro-flight controllers using deep neural networks.
result Reinforcement learning enables training neural network controllers for stable and precise flight.
New method uses UAV imagery and ML to map crops and weeds.
problem Mapping crops and weeds at high resolution.
method Machine Learning algorithms trained on expert-masked images.
result Maps with >90% identification efficiency at 5m altitude.
Modern vision-based reinforcement learning techniques often use convolutional neural networks (CNN) as universal function approximators to choose which action to take for a given visual input. Until recently, CNNs have been treated like black-box functions, but this mindset is especially dangerous when used for control…
We introduce a Bayesian defect detector to facilitate the defect detection on the motion blurred images on rough texture surfaces. To enhance the accuracy of Bayesian detection on removing non-defect pixels, we develop a class of reflected non-local prior distributions, which is constructed by using the mode of a distr…
The importance of training robust neural network grows as 3D data is increasingly utilized in deep learning for vision tasks in robotics, drone control, and autonomous driving. One commonly used 3D data type is 3D point clouds, which describe shape information. We examine the problem of creating robust models from the …
Improved person detection in occluded conditions with AOS images.
problem Inaccurate classification of partially occluded people, animals, or objects.
method Combining multi-perspective images captured by Airborne Optical Sectioning (AOS) to achieve better precision and recall.
result Precision/recall of 96/93% for automated person detection.
Paper detects anomalous edges in social networks using edge exchangeability.
problem Detecting anomalous edges in directed social networks.
method Exploits edge exchangeability and uses conformal prediction theory.
result Proposed anomaly detector has a guaranteed upper bound for false positives.
Deep Neural Networks (DNNs) are increasingly deployed in highly energy-constrained environments such as autonomous drones and wearable devices while at the same time must operate in real-time. Therefore, reducing the energy consumption has become a major design consideration in DNN training. This paper proposes the fir…
Prediction of future states of the environment and interacting agents is a key competence required for autonomous agents to operate successfully in the real world. Prior work for structured sequence prediction based on latent variable models imposes a uni-modal standard Gaussian prior on the latent variables. This indu…
Convolutional Neural Networks (CNNs) have become the method of choice for learning problems involving 2D planar images. However, a number of problems of recent interest have created a demand for models that can analyze spherical images. Examples include omnidirectional vision for drones, robots, and autonomous cars, mo…
Combines neural networks and STL for multi-class time-series classification.
problem Lack of interpretability in neural networks for time-series data.
method Proposes a method that uses neural networks to classify time-series data using STL specifications, introducing margin for multi-class classification and STL-based attributes for interpretability.
result Evaluations show improved interpretability and performance compared to state-of-the-art baselines.
We study parallel surfaces and dual surfaces of cuspidal edges. We give concrete forms of principal curvature and principal direction for cuspidal edges. Moreover, we define ridge points for cuspidal edges by using those. We clarify relations between singularities of parallel and dual surfaces and differential geometri…
OL4EL optimizes edge learning on resource-constrained servers.
problem Resource constraints on edge servers hinder effective distributed machine learning.
method Online Learning for EL (OL4EL) framework using budget-limited multi-armed bandit model.
result OL4EL significantly improves learning performance while conserving resources.
New GPs model edge functions on complex networks, capturing divergence and curl.
problem Modeling flow data on networks with independent learning of Hodge components.
method Developed Hodge-compositional edge GPs using Hodge decomposition.
result Hodge-compositional edge GPs can represent any edge function and capture flow relevance.
In L^3, cuspidal edges can have bounded mean curvature under specific conditions.
problem Understanding cuspidal edges with bounded mean curvature in Lorentz-Minkowski 3-space.
method Investigated cuspidal edges and generalized cuspidal edges, analyzing their singular points and principal curvatures.
result Cuspidal edges with bounded mean curvature in L^3 occur only when the singular set is a light-like curve.
Along cuspidal edge singularities on a given surface in Euclidean 3-space, which can be parametrized by a regular space curve, a unit normal vector field ν is well-defined as a smooth vector field of the surface. A cuspidal edge singular point is called generic if the osculating plane of the cuspidal edge (as a regul…
Bundling of graph edges (node-to-node connections) is a common technique to enhance visibility of overall trends in the edge structure of a large graph layout, and a large variety of bundling algorithms have been proposed. However, with strong bundling, it becomes hard to identify origins and destinations of individual…
Edge augmentation connects disconnected graphs by elevating eigenvalues.
problem Connecting disconnected subgraphs in graphs with zero eigenvalues.
method Elevating zero eigenvalues of graph's spectrum to connect subgraphs.
result The algorithm consistently connects graph components, achieving >50% inter-community edges.
A new method for learning policies in multiple environments.
problem Learning policies that work in different but related environments.
method Decentralized entropy-regularized policy gradient method.
result The method can learn effective policies in multiple environments.
We prove several results about chordal graphs and weighted chordal graphs by focusing on exposed edges. These are edges that are properly contained in a single maximal complete subgraph. This leads to a characterization of chordal graphs via deletions of a sequence of exposed edges from a complete graph. Most interesti…
Under what conditions is an edge present in a social network at time t likely to decay or persist by some future time t + Delta(t)? Previous research addressing this issue suggests that the network range of the people involved in the edge, the extent to which the edge is embedded in a surrounding structure, and the age…
New maximally linkless graphs found with fewer edges.
problem Finding graphs without any links in 3D space.
method Demonstrated new maximally linkless graphs with improved edge count.
result Found maximally linkless graphs with m≤514n edges. In the emerging advancement in the branch of autonomous robotics, the ability of a robot to efficiently localize and construct maps of its surrounding is crucial. This paper deals with utilizing thermal-infrared cameras, as opposed to conventional cameras as the primary sensor to capture images of the robot's surroundi…
Study of cuspidal edges on focal surfaces of regular surfaces.
problem Clarifying the sign of singular curvature at cuspidal edges.
method Investigation using singularities of parallel surfaces.
result Clarification of the sign of singular curvature at cuspidal edges.
RECON reconstructs regulatory networks from time-course data, reducing spurious edges and preserving true regulatory edges.
problem Reconstructing regulatory networks from time-course data with minimal spurious edges and preserving true regulatory relationships.
method RECON uses an integral-based additive nonparametric ODE model with five methodological advances to reconstruct regulatory networks.
result RECON consistently outperforms existing methods, reducing spurious edges and preserving true regulatory edges across various scenarios.
Method certifies edge predictions with cloud-level reliability.
problem Ensuring reliability of edge intelligence models.
method Conformal alignment-based cascading mechanism.
result Certifies conditional coverage with user control over risk level.
Reinforcement learning (RL) has advanced greatly in the past few years with the employment of effective deep neural networks (DNNs) on the policy networks. With the great effectiveness came serious vulnerability issues with DNNs that small adversarial perturbations on the input can change the output of the network. Sev…
Defense against user shilling attacks in collaborative filtering using edge reweighting.
problem Vulnerability of collaborative filtering to profile injection attacks.
method Adversarial robustness based edge reweighting to attenuate non-robust edges.
result Effective defense against various types of attacks demonstrated through experiments.