19,652 research outputs found
Second-Order Consensus of Networked Mechanical Systems With Communication Delays
In this paper, we consider the second-order consensus problem for networked
mechanical systems subjected to nonuniform communication delays, and the
mechanical systems are assumed to interact on a general directed topology. We
propose an adaptive controller plus a distributed velocity observer to realize
the objective of second-order consensus. It is shown that both the positions
and velocities of the mechanical agents synchronize, and furthermore, the
velocities of the mechanical agents converge to the scaled weighted average
value of their initial ones. We further demonstrate that the proposed
second-order consensus scheme can be used to solve the leader-follower
synchronization problem with a constant-velocity leader and under constant
communication delays. Simulation results are provided to illustrate the
performance of the proposed adaptive controllers.Comment: 16 pages, 5 figures, submitted to IEEE Transactions on Automatic
Contro
Interaction-aware Kalman Neural Networks for Trajectory Prediction
Forecasting the motion of surrounding obstacles (vehicles, bicycles,
pedestrians and etc.) benefits the on-road motion planning for intelligent and
autonomous vehicles. Complex scenes always yield great challenges in modeling
the patterns of surrounding traffic. For example, one main challenge comes from
the intractable interaction effects in a complex traffic system. In this paper,
we propose a multi-layer architecture Interaction-aware Kalman Neural Networks
(IaKNN) which involves an interaction layer for resolving high-dimensional
traffic environmental observations as interaction-aware accelerations, a motion
layer for transforming the accelerations to interaction aware trajectories, and
a filter layer for estimating future trajectories with a Kalman filter network.
Attributed to the multiple traffic data sources, our end-to-end trainable
approach technically fuses dynamic and interaction-aware trajectories boosting
the prediction performance. Experiments on the NGSIM dataset demonstrate that
IaKNN outperforms the state-of-the-art methods in terms of effectiveness for
traffic trajectory prediction.Comment: 8 pages, 4 figures, Accepted for IEEE Intelligent Vehicles Symposium
(IV) 202
Resilient neural network training for accelerators with computing errors
âWith the advancements of neural networks, customized accelerators are increasingly adopted in massive AI
applications. To gain higher energy efficiency or performance,
many hardware design optimizations such as near-threshold
logic or overclocking can be utilized. In these cases, computing
errors may happen and the computing errors are difficult
to be captured by conventional training on general purposed
processors (GPPs). Applying the offline trained neural network
models to the accelerators with errors directly may lead to
considerable prediction accuracy loss.
To address this problem, we explore the resilience of neural
network models and relax the accelerator design constraints to
enable aggressive design options. First of all, we propose to
train the neural network models using the acceleratorsâ forward
computing results such that the models can learn both the data
and the computing errors. In addition, we observe that some of
the neural network layers are more sensitive to the computing
errors. With this observation, we schedule the most sensitive
layer to the attached GPP to reduce the negative influence of
the computing errors. According to the experiments, the neural
network models obtained from the proposed training outperform
the original models significantly when the CNN accelerators are
affected by computing errors
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