End-to-end Driving via Conditional Imitation Learning

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate an expert cannot be guided to take a specific turn at an upcoming intersection. This limits the utility of such systems. We propose to condition imitation learning on high-level command input. At test time, the learned driving policy functions as a chauffeur that handles sensorimotor coordination but continues to respond to navigational commands. We evaluate different architectures for conditional imitation learning in vision-based driving. We conduct experiments in realistic three-dimensional simulations of urban driving and on a 1/5 scale robotic truck that is trained to drive in a residential area. Both systems drive based on visual input yet remain responsive to high-level navigational commands. The supplementary video can be viewed at https://youtu.be/cFtnflNe5fMComment: Published at the International Conference on Robotics and Automation (ICRA), 201

Modeling the Internet of Things: a simulation perspective

This paper deals with the problem of properly simulating the Internet of Things (IoT). Simulating an IoT allows evaluating strategies that can be employed to deploy smart services over different kinds of territories. However, the heterogeneity of scenarios seriously complicates this task. This imposes the use of sophisticated modeling and simulation techniques. We discuss novel approaches for the provision of scalable simulation scenarios, that enable the real-time execution of massively populated IoT environments. Attention is given to novel hybrid and multi-level simulation techniques that, when combined with agent-based, adaptive Parallel and Distributed Simulation (PADS) approaches, can provide means to perform highly detailed simulations on demand. To support this claim, we detail a use case concerned with the simulation of vehicular transportation systems.Comment: Proceedings of the IEEE 2017 International Conference on High Performance Computing and Simulation (HPCS 2017

Federated Robust Embedded Systems: Concepts and Challenges

The development within the area of embedded systems (ESs) is moving rapidly, not least due to falling costs of computation and communication equipment. It is believed that increased communication opportunities will lead to the future ESs no longer being parts of isolated products, but rather parts of larger communities or federations of ESs, within which information is exchanged for the benefit of all participants. This vision is asserted by a number of interrelated research topics, such as the internet of things, cyber-physical systems, systems of systems, and multi-agent systems. In this work, the focus is primarily on ESs, with their specific real-time and safety requirements. While the vision of interconnected ESs is quite promising, it also brings great challenges to the development of future systems in an efficient, safe, and reliable way. In this work, a pre-study has been carried out in order to gain a better understanding about common concepts and challenges that naturally arise in federations of ESs. The work was organized around a series of workshops, with contributions from both academic participants and industrial partners with a strong experience in ES development. During the workshops, a portfolio of possible ES federation scenarios was collected, and a number of application examples were discussed more thoroughly on different abstraction levels, starting from screening the nature of interactions on the federation level and proceeding down to the implementation details within each ES. These discussions led to a better understanding of what can be expected in the future federated ESs. In this report, the discussed applications are summarized, together with their characteristics, challenges, and necessary solution elements, providing a ground for the future research within the area of communicating ESs

Parallel Sort-Based Matching for Data Distribution Management on Shared-Memory Multiprocessors

In this paper we consider the problem of identifying intersections between two sets of d-dimensional axis-parallel rectangles. This is a common problem that arises in many agent-based simulation studies, and is of central importance in the context of High Level Architecture (HLA), where it is at the core of the Data Distribution Management (DDM) service. Several realizations of the DDM service have been proposed; however, many of them are either inefficient or inherently sequential. These are serious limitations since multicore processors are now ubiquitous, and DDM algorithms -- being CPU-intensive -- could benefit from additional computing power. We propose a parallel version of the Sort-Based Matching algorithm for shared-memory multiprocessors. Sort-Based Matching is one of the most efficient serial algorithms for the DDM problem, but is quite difficult to parallelize due to data dependencies. We describe the algorithm and compute its asymptotic running time; we complete the analysis by assessing its performance and scalability through extensive experiments on two commodity multicore systems based on a dual socket Intel Xeon processor, and a single socket Intel Core i7 processor.Comment: Proceedings of the 21-th ACM/IEEE International Symposium on Distributed Simulation and Real Time Applications (DS-RT 2017). Best Paper Award @DS-RT 201

Agent-based simulation framework for the taxi sector modeling

Taxi services account for a significant part of the daily trips in most cities around the world. These services are regulated by a central authority, which usually monitors the performance of the taxi services provision and defines the policies applied to the taxi sector. In order to support policy makers, fleet managers and individual taxi drivers, there is a need for developing models to understand the behavior of these markets. Most of the models developed for analyzing the taxi market are based on econometric measurements and do not account for the spatial distribution of both taxi demand and supply. Only few simulation models are able to better understand the operational characteristics of the taxi market. This paper presents a framework for the development of agent based taxi simulation models. It is aimed at assessing policy makers, taxi fleet managers and individual drivers in the definition of the optimum operation mode and the number of vehicles.Peer ReviewedPostprint (published version