Predicting wet age-related macular degeneration (AMD) using DARC (detecting apoptosing retinal cells) AI (artificial intelligence) technology

Objectives: To assess a recently described CNN (convolutional neural network) DARC (Detection of Apoptosing Retinal Cells) algorithm in predicting new Subretinal Fluid (SRF) formation in Age-related-Macular-Degeneration (AMD). Methods: Anonymized DARC, baseline and serial OCT images (n = 427) from 29 AMD eyes of Phase 2 clinical trial (ISRCTN10751859) were assessed with CNN algorithms, enabling the location of each DARC spot on corresponding OCT slices (n = 20,629). Assessment of DARC in a rabbit model of angiogenesis was performed in parallel. Results: A CNN DARC count >5 at baseline was significantly (p = 0.0156) related to development of new SRF throughout 36 months. Prediction rate of eyes using unique DARC spots overlying new SRF had positive predictive values, sensitivities and specificities >70%, with DARC count significantly (p < 0.005) related to the magnitude of SRF accumulation at all time points. DARC identified earliest stages of angiogenesis in-vivo. Conclusions: DARC was able to predict new wet-AMD activity. Using only an OCT-CNN definition of new SRF, we demonstrate that DARC can identify early endothelial neovascular activity, as confirmed by rabbit studies. Although larger validation studies are required, this shows the potential of DARC as a biomarker of wet AMD, and potentially saving vision-loss

Emergent velocity agreement in robot networks

In this paper we propose and prove correct a new self-stabilizing velocity agreement (flocking) algorithm for oblivious and asynchronous robot networks. Our algorithm allows a flock of uniform robots to follow a flock head emergent during the computation whatever its direction in plane. Robots are asynchronous, oblivious and do not share a common coordinate system. Our solution includes three modules architectured as follows: creation of a common coordinate system that also allows the emergence of a flock-head, setting up the flock pattern and moving the flock. The novelty of our approach steams in identifying the necessary conditions on the flock pattern placement and the velocity of the flock-head (rotation, translation or speed) that allow the flock to both follow the exact same head and to preserve the flock pattern. Additionally, our system is self-healing and self-stabilizing. In the event of the head leave (the leading robot disappears or is damaged and cannot be recognized by the other robots) the flock agrees on another head and follows the trajectory of the new head. Also, robots are oblivious (they do not recall the result of their previous computations) and we make no assumption on their initial position. The step complexity of our solution is O(n)

Probabilistic and Distributed Control of a Large-Scale Swarm of Autonomous Agents

We present a novel method for guiding a large-scale swarm of autonomous agents into a desired formation shape in a distributed and scalable manner. Our Probabilistic Swarm Guidance using Inhomogeneous Markov Chains (PSG-IMC) algorithm adopts an Eulerian framework, where the physical space is partitioned into bins and the swarm's density distribution over each bin is controlled. Each agent determines its bin transition probabilities using a time-inhomogeneous Markov chain. These time-varying Markov matrices are constructed by each agent in real-time using the feedback from the current swarm distribution, which is estimated in a distributed manner. The PSG-IMC algorithm minimizes the expected cost of the transitions per time instant, required to achieve and maintain the desired formation shape, even when agents are added to or removed from the swarm. The algorithm scales well with a large number of agents and complex formation shapes, and can also be adapted for area exploration applications. We demonstrate the effectiveness of this proposed swarm guidance algorithm by using results of numerical simulations and hardware experiments with multiple quadrotors.Comment: Submitted to IEEE Transactions on Robotic

Coalitional Games in MISO Interference Channels: Epsilon-Core and Coalition Structure Stable Set

The multiple-input single-output interference channel is considered. Each transmitter is assumed to know the channels between itself and all receivers perfectly and the receivers are assumed to treat interference as additive noise. In this setting, noncooperative transmission does not take into account the interference generated at other receivers which generally leads to inefficient performance of the links. To improve this situation, we study cooperation between the links using coalitional games. The players (links) in a coalition either perform zero forcing transmission or Wiener filter precoding to each other. The $\epsilon$-core is a solution concept for coalitional games which takes into account the overhead required in coalition deviation. We provide necessary and sufficient conditions for the strong and weak $\epsilon$-core of our coalitional game not to be empty with zero forcing transmission. Since, the $\epsilon$-core only considers the possibility of joint cooperation of all links, we study coalitional games in partition form in which several distinct coalitions can form. We propose a polynomial time distributed coalition formation algorithm based on coalition merging and prove that its solution lies in the coalition structure stable set of our coalition formation game. Simulation results reveal the cooperation gains for different coalition formation complexities and deviation overhead models.Comment: to appear in IEEE Transactions on Signal Processing, 14 pages, 14 figures, 3 table

Coalitional Games with Overlapping Coalitions for Interference Management in Small Cell Networks

In this paper, we study the problem of cooperative interference management in an OFDMA two-tier small cell network. In particular, we propose a novel approach for allowing the small cells to cooperate, so as to optimize their sum-rate, while cooperatively satisfying their maximum transmit power constraints. Unlike existing work which assumes that only disjoint groups of cooperative small cells can emerge, we formulate the small cells' cooperation problem as a coalition formation game with overlapping coalitions. In this game, each small cell base station can choose to participate in one or more cooperative groups (or coalitions) simultaneously, so as to optimize the tradeoff between the benefits and costs associated with cooperation. We study the properties of the proposed overlapping coalition formation game and we show that it exhibits negative externalities due to interference. Then, we propose a novel decentralized algorithm that allows the small cell base stations to interact and self-organize into a stable overlapping coalitional structure. Simulation results show that the proposed algorithm results in a notable performance advantage in terms of the total system sum-rate, relative to the noncooperative case and the classical algorithms for coalitional games with non-overlapping coalitions

Coalition Formation Games for Collaborative Spectrum Sensing

Collaborative Spectrum Sensing (CSS) between secondary users (SUs) in cognitive networks exhibits an inherent tradeoff between minimizing the probability of missing the detection of the primary user (PU) and maintaining a reasonable false alarm probability (e.g., for maintaining a good spectrum utilization). In this paper, we study the impact of this tradeoff on the network structure and the cooperative incentives of the SUs that seek to cooperate for improving their detection performance. We model the CSS problem as a non-transferable coalitional game, and we propose distributed algorithms for coalition formation. First, we construct a distributed coalition formation (CF) algorithm that allows the SUs to self-organize into disjoint coalitions while accounting for the CSS tradeoff. Then, the CF algorithm is complemented with a coalitional voting game for enabling distributed coalition formation with detection probability guarantees (CF-PD) when required by the PU. The CF-PD algorithm allows the SUs to form minimal winning coalitions (MWCs), i.e., coalitions that achieve the target detection probability with minimal costs. For both algorithms, we study and prove various properties pertaining to network structure, adaptation to mobility and stability. Simulation results show that CF reduces the average probability of miss per SU up to 88.45% relative to the non-cooperative case, while maintaining a desired false alarm. For CF-PD, the results show that up to 87.25% of the SUs achieve the required detection probability through MWCComment: IEEE Transactions on Vehicular Technology, to appea

Plane Formation by Synchronous Mobile Robots in the Three Dimensional Euclidean Space

Creating a swarm of mobile computing entities frequently called robots, agents or sensor nodes, with self-organization ability is a contemporary challenge in distributed computing. Motivated by this, we investigate the plane formation problem that requires a swarm of robots moving in the three dimensional Euclidean space to land on a common plane. The robots are fully synchronous and endowed with visual perception. But they do not have identifiers, nor access to the global coordinate system, nor any means of explicit communication with each other. Though there are plenty of results on the agreement problem for robots in the two dimensional plane, for example, the point formation problem, the pattern formation problem, and so on, this is the first result for robots in the three dimensional space. This paper presents a necessary and sufficient condition for fully-synchronous robots to solve the plane formation problem that does not depend on obliviousness i.e., the availability of local memory at robots. An implication of the result is somewhat counter-intuitive: The robots cannot form a plane from most of the semi-regular polyhedra, while they can form a plane from every regular polyhedron (except a regular icosahedron), whose symmetry is usually considered to be higher than any semi-regular polyhedrdon

Coalitional Games for Distributed Collaborative Spectrum Sensing in Cognitive Radio Networks

Collaborative spectrum sensing among secondary users (SUs) in cognitive networks is shown to yield a significant performance improvement. However, there exists an inherent trade off between the gains in terms of probability of detection of the primary user (PU) and the costs in terms of false alarm probability. In this paper, we study the impact of this trade off on the topology and the dynamics of a network of SUs seeking to reduce the interference on the PU through collaborative sensing. Moreover, while existing literature mainly focused on centralized solutions for collaborative sensing, we propose distributed collaboration strategies through game theory. We model the problem as a non-transferable coalitional game, and propose a distributed algorithm for coalition formation through simple merge and split rules. Through the proposed algorithm, SUs can autonomously collaborate and self-organize into disjoint independent coalitions, while maximizing their detection probability taking into account the cooperation costs (in terms of false alarm). We study the stability of the resulting network structure, and show that a maximum number of SUs per formed coalition exists for the proposed utility model. Simulation results show that the proposed algorithm allows a reduction of up to 86.6% of the average missing probability per SU (probability of missing the detection of the PU) relative to the non-cooperative case, while maintaining a certain false alarm level. In addition, through simulations, we compare the performance of the proposed distributed solution with respect to an optimal centralized solution that minimizes the average missing probability per SU. Finally, the results also show how the proposed algorithm autonomously adapts the network topology to environmental changes such as mobility.Comment: in proceedings of IEEE INFOCOM 200