Cost Adaptation for Robust Decentralized Swarm Behaviour

Decentralized receding horizon control (D-RHC) provides a mechanism for coordination in multi-agent settings without a centralized command center. However, combining a set of different goals, costs, and constraints to form an efficient optimization objective for D-RHC can be difficult. To allay this problem, we use a meta-learning process -- cost adaptation -- which generates the optimization objective for D-RHC to solve based on a set of human-generated priors (cost and constraint functions) and an auxiliary heuristic. We use this adaptive D-RHC method for control of mesh-networked swarm agents. This formulation allows a wide range of tasks to be encoded and can account for network delays, heterogeneous capabilities, and increasingly large swarms through the adaptation mechanism. We leverage the Unity3D game engine to build a simulator capable of introducing artificial networking failures and delays in the swarm. Using the simulator we validate our method on an example coordinated exploration task. We demonstrate that cost adaptation allows for more efficient and safer task completion under varying environment conditions and increasingly large swarm sizes. We release our simulator and code to the community for future work.Comment: Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 201

The Hierarchical Control Method for Coordinating a Group of Connected Vehicles on Urban Roads

Safety, mobility and environmental impact are the three major challenges in today\u27s transportation system. As the advances in wireless communication and vehicle automation technologies, they have rapidly led to the emergence and development of connected and automated vehicles (CAVs). We can expect fully CAVs by 2030. The CAV technologies offer another solution for the issues we are dealing with in the current transportation system. In the meanwhile, urban roads are one of the most important part in the transportation network. Urban roads are characterized by multiple interconnected intersections. They are more complicated than highway traffic, because the vehicles on the urban roads are moving in multiple directions with higher relative velocity. Most of the traffic accidents happened at intersections and the intersections are the major contribution to the traffic congestions. Our urban road infrastructures are also becoming more intelligent. Sensor-embedded roadways are continuously gathering traffic data from passing vehicles. Our smart vehicles are meeting intelligent roads. However, we have not taken the fully advantages of the data rich traffic environment provided by the connected vehicle technologies and intelligent road infrastructures. The objective of this research is to develop a coordination control strategy for a group of connected vehicles under intelligent traffic environment, which can guide the vehicles passing through the intersections and make smart lane change decisions with the objective of improving overall fuel economy and traffic mobility. The coordination control strategy should also be robust to imperfect connectivity conditions with various connected vehicle penetration rate. This dissertation proposes a hierarchical control method to coordinate a group of connected vehicles travelling on urban roads with intersections. The dissertation includes four parts of the application of our proposed method: First, we focus on the coordination of the connected vehicles on the multiple interconnected unsignalized intersection roads, where the traffic signals are removed and the collision avoidance at the intersection area relays on the communication and cooperation of the connected vehicles and intersection controllers. Second, a fuel efficient hierarchical control method is proposed to control the connected vehicles travel on the signalized intersection roads. With the signal phase and timing (SPAT) information, our proposed approach is able to help the connected vehicles minimize red light idling and improve the fuel economy at the same time. Third, the research is extended form single lane to multiple lane, where the connected vehicle discretionary and cooperative mandatory lane change have been explored. Finally, we have analysis the real-world implementation potential of our proposed algorithm including the communication delay and real-time implementation analysis

Pseudo Trained YOLO R_CNN Model for Weapon Detection with a Real-Time Kaggle Dataset

The Recurrent Convolutional Neural Networks (RCNN) based deep learning models has been classified image patterns and deep features through layer architecture. In this world every country doesn’t encouraging violence, so that indirectly nations prohibiting usages of weapons to common people. This study proposes a novel YoLo Faster R-CNN based weapon detection algorithm for unusual weapon object detection. The proposed YoLo V3 R-CNN computer vision application can rapidly find weapons carried by people and highlighted through bounding-box-intimation. The work plan of this research is divided into two stages, at 1st stage pre-processing has been called to Faster R-CNN segmentation. The 2nd stage has been training the dataset as well as extracting 8-features (image_id, detection score, pixels-intensity, resolution, Aspect-ratio, PSNR, CC, SSIM) into .csv file. The labeling can be performed to RCNN-YoLo method such that getting real-time objects detection (Unusual things). The Confusion matrix has been generating performance measures in terms of accuracy 97.12%, SSIM 0.99, sensitivity 97.23%, and throughput 94.23% had been attained which are outperformance methodology

Research Brief

Approved for public release; distribution is unlimited

Pseudo Trained YOLO R_CNN Model for Weapon Detection with a Real-Time Kaggle Dataset

The Recurrent Convolutional Neural Networks (RCNN) based deep learning models has been classified image patterns and deep features through layer architecture. In this world every country doesn’t encouraging violence, so that indirectly nations prohibiting usages of weapons to common people. This study proposes a novel YoLo Faster R-CNN based weapon detection algorithm for unusual weapon object detection. The proposed YoLo V3 R-CNN computer vision application can rapidly find weapons carried by people and highlighted through bounding-box-intimation. The work plan of this research is divided into two stages, at 1st stage pre-processing has been called to Faster R-CNN segmentation. The 2nd stage has been training the dataset as well as extracting 8-features (image_id, detection score, pixels-intensity, resolution, Aspect-ratio, PSNR, CC, SSIM) into .csv file. The labeling can be performed to RCNN-YoLo method such that getting real-time objects detection (Unusual things). The Confusion matrix has been generating performance measures in terms of accuracy 97.12%, SSIM 0.99, sensitivity 97.23%, and throughput 94.23% had been attained which are outperformance methodology

Information-driven persistent sensing of a non-cooperative mobile target using UAVs

This paper addresses the persistent sensing problem of moving ground targets of interest using a group of fixed wing UAVs. Especially, we aim to overcome the challenge of physical obscuration in complex mission environments. To this end, the persistent sensing problem is formulated under an optimal control framework, i.e. deploying and managing UAVs in a way maximising the visibility to the non-cooperative target.The main issue with such a persistent sensing problem is that it generally requires the knowledge of future target positions, which is uncertain. To mitigate this issue, a probabilistic map of the future target position is widely utilised. However, most of the probabilistic models use only limited information of the target. This paper proposes an innovative framework that can make the best use of all available information, not only limited information. For the validation of the feasibility, the performance of the proposed framework is tested in a Manhattan-type controlled urban environment. All the simulation tests use the same framework proposed, but utilise different level of information. The simulation results confirm that the performance of the persistent sensing significantly improves, up to 30%, when incorporating all available target information