Isolation, Assurance and Rules : Can Rational Folly Supplant Foolish Rationality?

Consider an “isolation paradox” game with many identical players. By definition, conforming to a rule which maximizes average utility is individually a strictly dominated strategy. Suppose, however, that some players think “quasi-magically” in accordance with evidential (but not causal) decision theory. That is, they act as if others’ disposition to conform, or not, is affected by their own behavior, even though they do not actually believe there is a causal link. Standard game theory excludes this. Yet such “rational folly” can sustain “rule utilitarian” cooperative behavior. Comparisons are made with Newcomb’s problem, and with related attempts to resolve prisoner’s dilemma.

Resilience of multi-robot systems to physical masquerade attacks

The advent of autonomous mobile multi-robot systems has driven innovation in both the industrial and defense sectors. The integration of such systems in safety-and security-critical applications has raised concern over their resilience to attack. In this work, we investigate the security problem of a stealthy adversary masquerading as a properly functioning agent. We show that conventional multi-agent pathfinding solutions are vulnerable to these physical masquerade attacks. Furthermore, we provide a constraint-based formulation of multi-agent pathfinding that yields multi-agent plans that are provably resilient to physical masquerade attacks. This formalization leverages inter-agent observations to facilitate introspective monitoring to guarantee resilience.Accepted manuscrip

The relationship between IR and multimedia databases

Modern extensible database systems support multimedia data through ADTs. However, because of the problems with multimedia query formulation, this support is not sufficient.\ud \ud Multimedia querying requires an iterative search process involving many different representations of the objects in the database. The support that is needed is very similar to the processes in information retrieval.\ud \ud Based on this observation, we develop the miRRor architecture for multimedia query processing. We design a layered framework based on information retrieval techniques, to provide a usable query interface to the multimedia database.\ud \ud First, we introduce a concept layer to enable reasoning over low-level concepts in the database.\ud \ud Second, we add an evidential reasoning layer as an intermediate between the user and the concept layer.\ud \ud Third, we add the functionality to process the users' relevance feedback.\ud \ud We then adapt the inference network model from text retrieval to an evidential reasoning model for multimedia query processing.\ud \ud We conclude with an outline for implementation of miRRor on top of the Monet extensible database system

Generating evidential BEV maps in continuous driving space

Safety is critical for autonomous driving, and one aspect of improving safety is to accurately capture the uncertainties of the perception system, especially knowing the unknown. Different from only providing deterministic or probabilistic results, e.g., probabilistic object detection, that only provide partial information for the perception scenario, we propose a complete probabilistic model named GevBEV. It interprets the 2D driving space as a probabilistic Bird's Eye View (BEV) map with point-based spatial Gaussian distributions, from which one can draw evidence as the parameters for the categorical Dirichlet distribution of any new sample point in the continuous driving space. The experimental results show that GevBEV not only provides more reliable uncertainty quantification but also outperforms the previous works on the benchmarks OPV2V and V2V4Real of BEV map interpretation for cooperative perception in simulated and real-world driving scenarios, respectively. A critical factor in cooperative perception is the data transmission size through the communication channels. GevBEV helps reduce communication overhead by selecting only the most important information to share from the learned uncertainty, reducing the average information communicated by 87% with only a slight performance drop. Our code is published at https://github.com/YuanYunshuang/GevBEV

A Survey on Multisensor Fusion and Consensus Filtering for Sensor Networks

Multisensor fusion and consensus filtering are two fascinating subjects in the research of sensor networks. In this survey, we will cover both classic results and recent advances developed in these two topics. First, we recall some important results in the development ofmultisensor fusion technology. Particularly, we pay great attention to the fusion with unknown correlations, which ubiquitously exist in most of distributed filtering problems. Next, we give a systematic review on several widely used consensus filtering approaches. Furthermore, some latest progress on multisensor fusion and consensus filtering is also presented. Finally, conclusions are drawn and several potential future research directions are outlined.the Royal Society of the UK, the National Natural Science Foundation of China under Grants 61329301, 61374039, 61304010, 11301118, and 61573246, the Hujiang Foundation of China under Grants C14002 and D15009, the Alexander von Humboldt Foundation of Germany, and the Innovation Fund Project for Graduate Student of Shanghai under Grant JWCXSL140

Multi-Modal Human-Machine Communication for Instructing Robot Grasping Tasks

A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by interactive demonstration. To make this effective and convenient for the user, the machine must be capable to establish a common focus of attention and be able to use and integrate spoken instructions, visual perceptions, and non-verbal clues like gestural commands. We report progress in building a hybrid architecture that combines statistical methods, neural networks, and finite state machines into an integrated system for instructing grasping tasks by man-machine interaction. The system combines the GRAVIS-robot for visual attention and gestural instruction with an intelligent interface for speech recognition and linguistic interpretation, and an modality fusion module to allow multi-modal task-oriented man-machine communication with respect to dextrous robot manipulation of objects.Comment: 7 pages, 8 figure