Robust controllability of temporal constraint network with uncertainty

Master'sMASTER OF SCIENC

Regularized Block Toeplitz Covariance Matrix Estimation via Kronecker Product Expansions

In this work we consider the estimation of spatio-temporal covariance matrices in the low sample non-Gaussian regime. We impose covariance structure in the form of a sum of Kronecker products decomposition (Tsiligkaridis et al. 2013, Greenewald et al. 2013) with diagonal correction (Greenewald et al.), which we refer to as DC-KronPCA, in the estimation of multiframe covariance matrices. This paper extends the approaches of (Tsiligkaridis et al.) in two directions. First, we modify the diagonally corrected method of (Greenewald et al.) to include a block Toeplitz constraint imposing temporal stationarity structure. Second, we improve the conditioning of the estimate in the very low sample regime by using Ledoit-Wolf type shrinkage regularization similar to (Chen, Hero et al. 2010). For improved robustness to heavy tailed distributions, we modify the KronPCA to incorporate robust shrinkage estimation (Chen, Hero et al. 2011). Results of numerical simulations establish benefits in terms of estimation MSE when compared to previous methods. Finally, we apply our methods to a real-world network spatio-temporal anomaly detection problem and achieve superior results.Comment: To appear at IEEE SSP 2014 4 page

Safety-Critical Control Synthesis for network systems with Control Barrier Functions and Assume-Guarantee Contracts

This paper presents a contract based framework for safety-critical control synthesis for network systems. To handle the large state dimension of such systems, an assume-guarantee contract is used to break the large synthesis problem into smaller subproblems. Parameterized signal temporal logic (pSTL) is used to formally describe the behaviors of the subsystems, which we use as the template for the contract. We show that robust control invariant sets (RCIs) for the subsystems can be composed to form a robust control invariant set for the whole network system under a valid assume-guarantee contract. An epigraph algorithm is proposed to solve for a contract that is valid, ---an approach that has linear complexity for a sparse network, which leads to a robust control invariant set for the whole network. Implemented with control barrier function (CBF), the state of each subsystem is guaranteed to stay within the safe set. Furthermore, we propose a contingency tube Model Predictive Control (MPC) approach based on the robust control invariant set, which is capable of handling severe contingencies, including topology changes of the network. A power grid example is used to demonstrate the proposed method. The simulation result includes both set point control and contingency recovery, and the safety constraint is always satisfied

A Multiple Cascade-Classifier System for a Robust and Partially Unsupervised Updating of Land-Cover Maps

A system for a regular updating of land-cover maps is proposed that is based on the use of multitemporal remote-sensing images. Such a system is able to face the updating problem under the realistic but critical constraint that, for the image to be classified (i.e., the most recent of the considered multitemporal data set), no ground truth information is available. The system is composed of an ensemble of partially unsupervised classifiers integrated in a multiple classifier architecture. Each classifier of the ensemble exhibits the following novel peculiarities: i) it is developed in the framework of the cascade-classification approach to exploit the temporal correlation existing between images acquired at different times in the considered area; ii) it is based on a partially unsupervised methodology capable to accomplish the classification process under the aforementioned critical constraint. Both a parametric maximum-likelihood classification approach and a non-parametric radial basis function (RBF) neural-network classification approach are used as basic methods for the development of partially unsupervised cascade classifiers. In addition, in order to generate an effective ensemble of classification algorithms, hybrid maximum-likelihood and RBF neural network cascade classifiers are defined by exploiting the peculiarities of the cascade-classification methodology. The results yielded by the different classifiers are combined by using standard unsupervised combination strategies. This allows the definition of a robust and accurate partially unsupervised classification system capable of analyzing a wide typology of remote-sensing data (e.g., images acquired by passive sensors, SAR images, multisensor and multisource data). Experimental results obtained on a real multitemporal and multisource data set confirm the effectiveness of the proposed system

A provably correct MPC approach to safety control of urban traffic networks

Model predictive control (MPC) is a popular strategy for urban traffic management that is able to incorporate physical and user defined constraints. However, the current MPC methods rely on finite horizon predictions that are unable to guarantee desirable behaviors over long periods of time. In this paper we design an MPC strategy that is guaranteed to keep the evolution of a network in a desirable yet arbitrary -safe- set, while optimizing a finite horizon cost function. Our approach relies on finding a robust controlled invariant set inside the safe set that provides an appropriate terminal constraint for the MPC optimization problem. An illustrative example is included.This work was partially supported by the NSF under grants CPS-1446151 and CMMI-1400167. (CPS-1446151 - NSF; CMMI-1400167 - NSF

Certainty Closure: Reliable Constraint Reasoning with Incomplete or Erroneous Data

Constraint Programming (CP) has proved an effective paradigm to model and solve difficult combinatorial satisfaction and optimisation problems from disparate domains. Many such problems arising from the commercial world are permeated by data uncertainty. Existing CP approaches that accommodate uncertainty are less suited to uncertainty arising due to incomplete and erroneous data, because they do not build reliable models and solutions guaranteed to address the user's genuine problem as she perceives it. Other fields such as reliable computation offer combinations of models and associated methods to handle these types of uncertain data, but lack an expressive framework characterising the resolution methodology independently of the model. We present a unifying framework that extends the CP formalism in both model and solutions, to tackle ill-defined combinatorial problems with incomplete or erroneous data. The certainty closure framework brings together modelling and solving methodologies from different fields into the CP paradigm to provide reliable and efficient approches for uncertain constraint problems. We demonstrate the applicability of the framework on a case study in network diagnosis. We define resolution forms that give generic templates, and their associated operational semantics, to derive practical solution methods for reliable solutions.Comment: Revised versio

Robustness: a New Form of Heredity Motivated by Dynamic Networks

We investigate a special case of hereditary property in graphs, referred to as {\em robustness}. A property (or structure) is called robust in a graph $G$ if it is inherited by all the connected spanning subgraphs of $G$. We motivate this definition using two different settings of dynamic networks. The first corresponds to networks of low dynamicity, where some links may be permanently removed so long as the network remains connected. The second corresponds to highly-dynamic networks, where communication links appear and disappear arbitrarily often, subject only to the requirement that the entities are temporally connected in a recurrent fashion ({\it i.e.} they can always reach each other through temporal paths). Each context induces a different interpretation of the notion of robustness. We start by motivating the definition and discussing the two interpretations, after what we consider the notion independently from its interpretation, taking as our focus the robustness of {\em maximal independent sets} (MIS). A graph may or may not admit a robust MIS. We characterize the set of graphs \forallMIS in which {\em all} MISs are robust. Then, we turn our attention to the graphs that {\em admit} a robust MIS (\existsMIS). This class has a more complex structure; we give a partial characterization in terms of elementary graph properties, then a complete characterization by means of a (polynomial time) decision algorithm that accepts if and only if a robust MIS exists. This algorithm can be adapted to construct such a solution if one exists

Temporal sparse feature auto-combination deep network for video action recognition

In order to deal with action recognition for large‐scale video data, we present a spatio‐temporal auto‐combination deep network, which is able to extract deep features from short video segments by making full use of temporal contextual correlation of corresponding pixels among successive video frames. Based on conventional sparse encoding, we further consider the representative features in adjacent nodes of the hidden layers according to activation states similarities. A sparse auto‐combination strategy is applied to multiple input maps in each convolution stage. An information constraint of the representative features of hidden layer nodes is imposed to handle the adaptive sparse encoding of the topology. As a result, the learned features can represent the spatio‐temporal transition relationships better and the number of hidden nodes can be restricted to a certain range. We conduct a series of experiments on two public data sets. The experimental results show that our approach is more effective and robust in video action recognition compared with traditional methods

Spatial and Temporal Mutual Promotion for Video-based Person Re-identification

Video-based person re-identification is a crucial task of matching video sequences of a person across multiple camera views. Generally, features directly extracted from a single frame suffer from occlusion, blur, illumination and posture changes. This leads to false activation or missing activation in some regions, which corrupts the appearance and motion representation. How to explore the abundant spatial-temporal information in video sequences is the key to solve this problem. To this end, we propose a Refining Recurrent Unit (RRU) that recovers the missing parts and suppresses noisy parts of the current frame's features by referring historical frames. With RRU, the quality of each frame's appearance representation is improved. Then we use the Spatial-Temporal clues Integration Module (STIM) to mine the spatial-temporal information from those upgraded features. Meanwhile, the multi-level training objective is used to enhance the capability of RRU and STIM. Through the cooperation of those modules, the spatial and temporal features mutually promote each other and the final spatial-temporal feature representation is more discriminative and robust. Extensive experiments are conducted on three challenging datasets, i.e., iLIDS-VID, PRID-2011 and MARS. The experimental results demonstrate that our approach outperforms existing state-of-the-art methods of video-based person re-identification on iLIDS-VID and MARS and achieves favorable results on PRID-2011.Comment: Accepted by AAAI19 as spotligh

Bio-inspired vision-based leader-follower formation flying in the presence of delays

Flocking starlings at dusk are known for the mesmerizing and intricate shapes they generate, as well as how fluid these shapes change. They seem to do this effortlessly. Real-life vision-based flocking has not been achieved in micro-UAVs (micro Unmanned Aerial Vehicles) to date. Towards this goal, we make three contributions in this paper: (i) we used a computational approach to develop a bio-inspired architecture for vision-based Leader-Follower formation flying on two micro-UAVs. We believe that the minimal computational cost of the resulting algorithm makes it suitable for object detection and tracking during high-speed flocking; (ii) we show that provided delays in the control loop of a micro-UAV are below a critical value, Kalman filter-based estimation algorithms are not required to achieve Leader-Follower formation flying; (iii) unlike previous approaches, we do not use external observers, such as GPS signals or synchronized communication with flock members. These three contributions could be useful in achieving vision-based flocking in GPS-denied environments on computationally-limited agents