61,615 research outputs found
On Energy Efficient Hierarchical Cross-Layer Design: Joint Power Control and Routing for Ad Hoc Networks
In this paper, a hierarchical cross-layer design approach is proposed to
increase energy efficiency in ad hoc networks through joint adaptation of
nodes' transmitting powers and route selection. The design maintains the
advantages of the classic OSI model, while accounting for the cross-coupling
between layers, through information sharing. The proposed joint power control
and routing algorithm is shown to increase significantly the overall energy
efficiency of the network, at the expense of a moderate increase in complexity.
Performance enhancement of the joint design using multiuser detection is also
investigated, and it is shown that the use of multiuser detection can increase
the capacity of the ad hoc network significantly for a given level of energy
consumption.Comment: To appear in the EURASIP Journal on Wireless Communications and
Networking, Special Issue on Wireless Mobile Ad Hoc Network
Blockout: Dynamic Model Selection for Hierarchical Deep Networks
Most deep architectures for image classification--even those that are trained
to classify a large number of diverse categories--learn shared image
representations with a single model. Intuitively, however, categories that are
more similar should share more information than those that are very different.
While hierarchical deep networks address this problem by learning separate
features for subsets of related categories, current implementations require
simplified models using fixed architectures specified via heuristic clustering
methods. Instead, we propose Blockout, a method for regularization and model
selection that simultaneously learns both the model architecture and
parameters. A generalization of Dropout, our approach gives a novel
parametrization of hierarchical architectures that allows for structure
learning via back-propagation. To demonstrate its utility, we evaluate Blockout
on the CIFAR and ImageNet datasets, demonstrating improved classification
accuracy, better regularization performance, faster training, and the clear
emergence of hierarchical network structures
Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform
In this paper, a hierarchical multi-UAV simulation platform,called XTDrone,
is designed for UAV swarms, which is completely open-source 4 . There are six
layers in XTDrone: communication, simulator,low-level control, high-level
control, coordination, and human interac-tion layers. XTDrone has three
advantages. Firstly, the simulation speedcan be adjusted to match the computer
performance, based on the lock-step mode. Thus, the simulations can be
conducted on a work stationor on a personal laptop, for different purposes.
Secondly, a simplifiedsimulator is also developed which enables quick algorithm
designing sothat the approximated behavior of UAV swarms can be observed
inadvance. Thirdly, XTDrone is based on ROS, Gazebo, and PX4, andhence the
codes in simulations can be easily transplanted to embeddedsystems. Note that
XTDrone can support various types of multi-UAVmissions, and we provide two
important demos in this paper: one is aground-station-based multi-UAV
cooperative search, and the other is adistributed UAV formation flight,
including consensus-based formationcontrol, task assignment, and obstacle
avoidance.Comment: 12 pages, 10 figures. And for the, see
https://gitee.com/robin_shaun/XTDron
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