Routing Unmanned Vehicles in GPS-Denied Environments

Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals either intentionally or unintentionally could potentially render these algorithms not applicable. In this article, we present a novel method to address this difficulty by combining methods from cooperative localization and routing. In particular, the article formulates a fundamental combinatorial optimization problem to plan routes for an unmanned vehicle in a GPS-restricted environment while enabling localization for the vehicle. We also develop algorithms to compute optimal paths for the vehicle using the proposed formulation. Extensive simulation results are also presented to corroborate the effectiveness and performance of the proposed formulation and algorithms.Comment: Publised in International Conference on Umanned Aerial System

Automated analysis of radar imagery of Venus: handling lack of ground truth

Lack of verifiable ground truth is a common problem in remote sensing image analysis. For example, consider the synthetic aperture radar (SAR) image data of Venus obtained by the Magellan spacecraft. Planetary scientists are interested in automatically cataloging the locations of all the small volcanoes in this data set; however, the problem is very difficult and cannot be performed with perfect reliability even by human experts. Thus, training and evaluating the performance of an automatic algorithm on this data set must be handled carefully. We discuss the use of weighted free-response receiver-operating characteristics (wFROCs) for evaluating detection performance when the “ground truth” is subjective. In particular, we evaluate the relative detection performance of humans and automatic algorithms. Our experimental results indicate that proper assessment of the uncertainty in “ground truth” is essential in applications of this nature

Towards Robust Deep Reinforcement Learning for Traffic Signal Control: Demand Surges, Incidents and Sensor Failures

Reinforcement learning (RL) constitutes a promising solution for alleviating the problem of traffic congestion. In particular, deep RL algorithms have been shown to produce adaptive traffic signal controllers that outperform conventional systems. However, in order to be reliable in highly dynamic urban areas, such controllers need to be robust with the respect to a series of exogenous sources of uncertainty. In this paper, we develop an open-source callback-based framework for promoting the flexible evaluation of different deep RL configurations under a traffic simulation environment. With this framework, we investigate how deep RL-based adaptive traffic controllers perform under different scenarios, namely under demand surges caused by special events, capacity reductions from incidents and sensor failures. We extract several key insights for the development of robust deep RL algorithms for traffic control and propose concrete designs to mitigate the impact of the considered exogenous uncertainties.Comment: 8 page

Post-drought decline of the Amazon carbon sink

Amazon forests have experienced frequent and severe droughts in the past two decades. However, little is known about the large-scale legacy of droughts on carbon stocks and dynamics of forests. Using systematic sampling of forest structure measured by LiDAR waveforms from 2003 to 2008, here we show a significant loss of carbon over the entire Amazon basin at a rate of 0.3 ± 0.2 (95% CI) PgC yr−1 after the 2005 mega-drought, which continued persistently over the next 3 years (2005–2008). The changes in forest structure, captured by average LiDAR forest height and converted to above ground biomass carbon density, show an average loss of 2.35 ± 1.80 MgC ha−1 a year after (2006) in the epicenter of the drought. With more frequent droughts expected in future, forests of Amazon may lose their role as a robust sink of carbon, leading to a significant positive climate feedback and exacerbating warming trends.The research was partially supported by NASA Terrestrial Ecology grant at the Jet Propulsion Laboratory, California Institute of Technology and partial funding to the UCLA Institute of Environment and Sustainability from previous National Aeronautics and Space Administration and National Science Foundation grants. The authors thank NSIDC, BYU, USGS, and NASA Land Processes Distributed Active Archive Center (LP DAAC) for making their data available. (NASA Terrestrial Ecology grant at the Jet Propulsion Laboratory, California Institute of Technology)Published versio

Byzantine Attack and Defense in Cognitive Radio Networks: A Survey

The Byzantine attack in cooperative spectrum sensing (CSS), also known as the spectrum sensing data falsification (SSDF) attack in the literature, is one of the key adversaries to the success of cognitive radio networks (CRNs). In the past couple of years, the research on the Byzantine attack and defense strategies has gained worldwide increasing attention. In this paper, we provide a comprehensive survey and tutorial on the recent advances in the Byzantine attack and defense for CSS in CRNs. Specifically, we first briefly present the preliminaries of CSS for general readers, including signal detection techniques, hypothesis testing, and data fusion. Second, we analyze the spear and shield relation between Byzantine attack and defense from three aspects: the vulnerability of CSS to attack, the obstacles in CSS to defense, and the games between attack and defense. Then, we propose a taxonomy of the existing Byzantine attack behaviors and elaborate on the corresponding attack parameters, which determine where, who, how, and when to launch attacks. Next, from the perspectives of homogeneous or heterogeneous scenarios, we classify the existing defense algorithms, and provide an in-depth tutorial on the state-of-the-art Byzantine defense schemes, commonly known as robust or secure CSS in the literature. Furthermore, we highlight the unsolved research challenges and depict the future research directions.Comment: Accepted by IEEE Communications Surveys and Tutoiral

Determining the contribution of volcanic ash and boundary layer aerosol in backscatter lidar returns: a three‐component atmosphere approach

A solution of the lidar equation is discussed, that permits combining backscatter and depolarization measurements to quantitatively distinguish two different aerosol types with different depolarization properties. The method has been successfully applied to simultaneous observations of volcanic ash and boundary layer aerosol obtained in Exeter, United Kingdom, on 16 and 18 April 2010, permitting the contribution of the two aerosols to be quantified separately. First a subset of the atmospheric profiles is used where the two aerosol types belong to clearly distinguished layers, for the purpose of characterizing the ash in terms of lidar ratio and depolarization. These quantities are then used in a three‐component atmosphere solution scheme of the lidar equation applied to the full data set, in order to compute the optical properties of both aerosol types separately. On 16 April a thin ash layer, 100–400 m deep, is observed (average and maximum estimated ash optical depth: 0.11 and 0.2); it descends from ∼2800 to ∼1400 m altitude over a 6‐hour period. On 18 April a double ash layer, ∼400 m deep, is observed just above the morning boundary layer (average and maximum estimated ash optical depth: 0.19 and 0.27). In the afternoon the ash is entrained into the boundary layer, and the latter reaches a depth of ∼1800 m (average and maximum estimated ash optical depth: 0.1 and 0.15). An additional ash layer, with a very small optical depth, was observed on 18 April at an altitude of 3500–4000 m. By converting the lidar optical measurements using estimates of volcanic ash specific extinction, derived from other works, the observations seem to suggest approximate peak ash concentrations of ∼1500 and ∼1000 mg/m3,respectively, on the two observations dates