Formation Control for a Fleet of Autonomous Ground Vehicles: A Survey

Autonomous/unmanned driving is the major state-of-the-art step that has a potential to fundamentally transform the mobility of individuals and goods. At present, most of the developments target standalone autonomous vehicles, which can sense the surroundings and control the vehicle based on this perception, with limited or no driver intervention. This paper focuses on the next step in autonomous vehicle research, which is the collaboration between autonomous vehicles, mainly vehicle formation control or vehicle platooning. To gain a deeper understanding in this area, a large number of the existing published papers have been reviewed systemically. In other words, many distributed and decentralized approaches of vehicle formation control are studied and their implementations are discussed. Finally, both technical and implementation challenges for formation control are summarized

Pedestrian and cyclist detection and intent estimation for autonomous vehicles: A survey

© 2019 by the authors. As autonomous vehicles become more common on the roads, their advancement draws on safety concerns for vulnerable road users, such as pedestrians and cyclists. This paper presents a review of recent developments in pedestrian and cyclist detection and intent estimation to increase the safety of autonomous vehicles, for both the driver and other road users. Understanding the intentions of the pedestrian/cyclist enables the self-driving vehicle to take actions to avoid incidents. To make this possible, development of methods/techniques, such as deep learning (DL), for the autonomous vehicle will be explored. For example, the development of pedestrian detection has been significantly advanced using DL approaches, such as; Fast Region-Convolutional Neural Network (R-CNN), Faster R-CNN and Single Shot Detector (SSD). Although DL has been around for several decades, the hardware to realise the techniques have only recently become viable. Using these DL methods for pedestrian and cyclist detection and applying it for the tracking, motion modelling and pose estimation can allow for a successful and accurate method of intent estimation for the vulnerable road users. Although there has been a growth in research surrounding the study of pedestrian detection using vision-based approaches, further attention should include focus on cyclist detection. To further improve safety for these vulnerable road users (VRUs), approaches such as sensor fusion and intent estimation should be investigated

Multimodal machine learning for intelligent mobility

Scientific problems are solved by finding the optimal solution for a specific task. Some problems can be solved analytically while other problems are solved using data driven methods. The use of digital technologies to improve the transportation of people and goods, which is referred to as intelligent mobility, is one of the principal beneficiaries of data driven solutions. Autonomous vehicles are at the heart of the developments that propel Intelligent Mobility. Due to the high dimensionality and complexities involved in real-world environments, it needs to become commonplace for intelligent mobility to use data-driven solutions. As it is near impossible to program decision making logic for every eventuality manually. While recent developments of data-driven solutions such as deep learning facilitate machines to learn effectively from large datasets, the application of techniques within safety-critical systems such as driverless cars remain scarce.Autonomous vehicles need to be able to make context-driven decisions autonomously in different environments in which they operate. The recent literature on driverless vehicle research is heavily focused only on road or highway environments but have discounted pedestrianized areas and indoor environments. These unstructured environments tend to have more clutter and change rapidly over time. Therefore, for intelligent mobility to make a significant impact on human life, it is vital to extend the application beyond the structured environments. To further advance intelligent mobility, researchers need to take cues from multiple sensor streams, and multiple machine learning algorithms so that decisions can be robust and reliable. Only then will machines indeed be able to operate in unstructured and dynamic environments safely. Towards addressing these limitations, this thesis investigates data driven solutions towards crucial building blocks in intelligent mobility. Specifically, the thesis investigates multimodal sensor data fusion, machine learning, multimodal deep representation learning and its application of intelligent mobility. This work demonstrates that mobile robots can use multimodal machine learning to derive driver policy and therefore make autonomous decisions.To facilitate autonomous decisions necessary to derive safe driving algorithms, we present an algorithm for free space detection and human activity recognition. Driving these decision-making algorithms are specific datasets collected throughout this study. They include the Loughborough London Autonomous Vehicle dataset, and the Loughborough London Human Activity Recognition dataset. The datasets were collected using an autonomous platform design and developed in house as part of this research activity. The proposed framework for Free-Space Detection is based on an active learning paradigm that leverages the relative uncertainty of multimodal sensor data streams (ultrasound and camera). It utilizes an online learning methodology to continuously update the learnt model whenever the vehicle experiences new environments. The proposed Free Space Detection algorithm enables an autonomous vehicle to self-learn, evolve and adapt to new environments never encountered before. The results illustrate that online learning mechanism is superior to one-off training of deep neural networks that require large datasets to generalize to unfamiliar surroundings. The thesis takes the view that human should be at the centre of any technological development related to artificial intelligence. It is imperative within the spectrum of intelligent mobility where an autonomous vehicle should be aware of what humans are doing in its vicinity. Towards improving the robustness of human activity recognition, this thesis proposes a novel algorithm that classifies point-cloud data originated from Light Detection and Ranging sensors. The proposed algorithm leverages multimodality by using the camera data to identify humans and segment the region of interest in point cloud data. The corresponding 3-dimensional data was converted to a Fisher Vector Representation before being classified by a deep Convolutional Neural Network. The proposed algorithm classifies the indoor activities performed by a human subject with an average precision of 90.3%. When compared to an alternative point cloud classifier, PointNet[1], [2], the proposed framework out preformed on all classes. The developed autonomous testbed for data collection and algorithm validation, as well as the multimodal data-driven solutions for driverless cars, is the major contributions of this thesis. It is anticipated that these results and the testbed will have significant implications on the future of intelligent mobility by amplifying the developments of intelligent driverless vehicles.</div

Programming China: the Communist Party’s autonomic approach to managing state security

Programming China: The Communist Party’s Autonomic Approach to Managing State Security, introduces the new analytical framework called China's “Autonomic Nervous System” (ANS). The ANS framework applies complex systems management theory to explain the process the Chinese Communist Party calls “social management”. Through the social management process, the Party-state leadership interacts with both the Party masses and non-Party masses. The process involves shaping, managing and responding and is aimed at ensuring the People’s Republic of China’s systemic stability and legitimacy—i.e. (Party-) state security. Using the ANS framework, this thesis brings cohesion to a complex set of concepts such as “holistic” state security, grid management, social credit and national defence mobilisation. Research carried out for the thesis included integrated archival research and the author’s database of nearly 10,000 social unrest events. Through ANS, the author demonstrates that in the case of the People’s Republic of China we may be witnessing a sideways development, where authoritarianism is stabilised, largely through a way of thinking that both embodies and applies complex systems management and attempts to “automate” that process through technology designed based on the same concepts. The party's rule of China, thus, evolves away from traditional political scales like reform versus retrenchment or hard versus soft authoritarianism. The ANS framework should be seen not as an incremental improvement to current research of China’s political system but as a fundamentally different approach to researching and analysing the nature of Chinese politics

A survey of large-scale reasoning on the Web of data

As more and more data is being generated by sensor networks, social media and organizations, the Webinterlinking this wealth of information becomes more complex. This is particularly true for the so-calledWeb of Data, in which data is semantically enriched and interlinked using ontologies. In this large anduncoordinated environment, reasoning can be used to check the consistency of the data and of asso-ciated ontologies, or to infer logical consequences which, in turn, can be used to obtain new insightsfrom the data. However, reasoning approaches need to be scalable in order to enable reasoning over theentire Web of Data. To address this problem, several high-performance reasoning systems, whichmainly implement distributed or parallel algorithms, have been proposed in the last few years. Thesesystems differ significantly; for instance in terms of reasoning expressivity, computational propertiessuch as completeness, or reasoning objectives. In order to provide afirst complete overview of thefield,this paper reports a systematic review of such scalable reasoning approaches over various ontologicallanguages, reporting details about the methods and over the conducted experiments. We highlight theshortcomings of these approaches and discuss some of the open problems related to performing scalablereasoning

Programming China: the Communist Party’s autonomic approach to managing state security

Programming China: The Communist Party’s Autonomic Approach to Managing State Security, introduces the new analytical framework called China's “Autonomic Nervous System” (ANS). The ANS framework applies complex systems management theory to explain the process the Chinese Communist Party calls “social management”. Through the social management process, the Party-state leadership interacts with both the Party masses and non-Party masses. The process involves shaping, managing and responding and is aimed at ensuring the People’s Republic of China’s systemic stability and legitimacy—i.e. (Party-) state security. Using the ANS framework, this thesis brings cohesion to a complex set of concepts such as “holistic” state security, grid management, social credit and national defence mobilisation. Research carried out for the thesis included integrated archival research and the author’s database of nearly 10,000 social unrest events. Through ANS, the author demonstrates that in the case of the People’s Republic of China we may be witnessing a sideways development, where authoritarianism is stabilised, largely through a way of thinking that both embodies and applies complex systems management and attempts to “automate” that process through technology designed based on the same concepts. The party's rule of China, thus, evolves away from traditional political scales like reform versus retrenchment or hard versus soft authoritarianism. The ANS framework should be seen not as an incremental improvement to current research of China’s political system but as a fundamentally different approach to researching and analysing the nature of Chinese politics

Recent Advances in Indoor Localization Systems and Technologies

Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods

Exploiting general-purpose background knowledge for automated schema matching

The schema matching task is an integral part of the data integration process. It is usually the first step in integrating data. Schema matching is typically very complex and time-consuming. It is, therefore, to the largest part, carried out by humans. One reason for the low amount of automation is the fact that schemas are often defined with deep background knowledge that is not itself present within the schemas. Overcoming the problem of missing background knowledge is a core challenge in automating the data integration process. In this dissertation, the task of matching semantic models, so-called ontologies, with the help of external background knowledge is investigated in-depth in Part I. Throughout this thesis, the focus lies on large, general-purpose resources since domain-specific resources are rarely available for most domains. Besides new knowledge resources, this thesis also explores new strategies to exploit such resources. A technical base for the development and comparison of matching systems is presented in Part II. The framework introduced here allows for simple and modularized matcher development (with background knowledge sources) and for extensive evaluations of matching systems. One of the largest structured sources for general-purpose background knowledge are knowledge graphs which have grown significantly in size in recent years. However, exploiting such graphs is not trivial. In Part III, knowledge graph em- beddings are explored, analyzed, and compared. Multiple improvements to existing approaches are presented. In Part IV, numerous concrete matching systems which exploit general-purpose background knowledge are presented. Furthermore, exploitation strategies and resources are analyzed and compared. This dissertation closes with a perspective on real-world applications