Controlling Steering Angle for Cooperative Self-driving Vehicles utilizing CNN and LSTM-based Deep Networks

A fundamental challenge in autonomous vehicles is adjusting the steering angle at different road conditions. Recent state-of-the-art solutions addressing this challenge include deep learning techniques as they provide end-to-end solution to predict steering angles directly from the raw input images with higher accuracy. Most of these works ignore the temporal dependencies between the image frames. In this paper, we tackle the problem of utilizing multiple sets of images shared between two autonomous vehicles to improve the accuracy of controlling the steering angle by considering the temporal dependencies between the image frames. This problem has not been studied in the literature widely. We present and study a new deep architecture to predict the steering angle automatically by using Long-Short-Term-Memory (LSTM) in our deep architecture. Our deep architecture is an end-to-end network that utilizes CNN, LSTM and fully connected (FC) layers and it uses both present and futures images (shared by a vehicle ahead via Vehicle-to-Vehicle (V2V) communication) as input to control the steering angle. Our model demonstrates the lowest error when compared to the other existing approaches in the literature.Comment: Accepted in IV 2019, 6 pages, 9 figure

Asymptotic simplicity and static data

The present article considers time symmetric initial data sets for the vacuum Einstein field equations which in a neighbourhood of infinity have the same massless part as that of some static initial data set. It is shown that the solutions to the regular finite initial value problem at spatial infinity for this class of initial data sets extend smoothly through the critical sets where null infinity touches spatial infinity if and only if the initial data sets coincide with static data in a neighbourhood of infinity. This result highlights the special role played by static data among the class of initial data sets for the Einstein field equations whose development gives rise to a spacetime with a smooth conformal compactification at null infinity.Comment: 25 page

A rigidity property of asymptotically simple spacetimes arising from conformally flat data

Given a time symmetric initial data set for the vacuum Einstein field equations which is conformally flat near infinity, it is shown that the solutions to the regular finite initial value problem at spatial infinity extend smoothly through the critical sets where null infinity touches spatial infinity if and only if the initial data coincides with Schwarzschild data near infinity.Comment: 37 page

Can one detect a non-smooth null infinity?

It is shown that the precession of a gyroscope can be used to elucidate the nature of the smoothness of the null infinity of an asymptotically flat spacetime (describing an isolated body). A model for which the effects of precession in the non-smooth null infinity case are of order $r^{-2}\ln r$ is proposed. By contrast, in the smooth version the effects are of order $r^{-3}$. This difference should provide an effective criterion to decide on the nature of the smoothness of null infinity.Comment: 6 pages, to appear in Class. Quantum Gra

On the existence and convergence of polyhomogeneous expansions of zero-rest-mass fields

The convergence of polyhomogeneous expansions of zero-rest-mass fields in asymptotically flat spacetimes is discussed. An existence proof for the asymptotic characteristic initial value problem for a zero-rest-mass field with polyhomogeneous initial data is given. It is shown how this non-regular problem can be properly recast as a set of regular initial value problems for some auxiliary fields. The standard techniques of symmetric hyperbolic systems can be applied to these new auxiliary problems, thus yielding a positive answer to the question of existence in the original problem.Comment: 10 pages, 1 eps figur

Time asymmetric spacetimes near null and spatial infinity. I. Expansions of developments of conformally flat data

The Conformal Einstein equations and the representation of spatial infinity as a cylinder introduced by Friedrich are used to analyse the behaviour of the gravitational field near null and spatial infinity for the development of data which are asymptotically Euclidean, conformally flat and time asymmetric. Our analysis allows for initial data whose second fundamental form is more general than the one given by the standard Bowen-York Ansatz. The Conformal Einstein equations imply upon evaluation on the cylinder at spatial infinity a hierarchy of transport equations which can be used to calculate in a recursive way asymptotic expansions for the gravitational field. It is found that the the solutions to these transport equations develop logarithmic divergences at certain critical sets where null infinity meets spatial infinity. Associated to these, there is a series of quantities expressible in terms of the initial data (obstructions), which if zero, preclude the appearance of some of the logarithmic divergences. The obstructions are, in general, time asymmetric. That is, the obstructions at the intersection of future null infinity with spatial infinity are different, and do not generically imply those obtained at the intersection of past null infinity with spatial infinity. The latter allows for the possibility of having spacetimes where future and past null infinity have different degrees of smoothness. Finally, it is shown that if both sets of obstructions vanish up to a certain order, then the initial data has to be asymptotically Schwarzschildean to some degree.Comment: 32 pages. First part of a series of 2 papers. Typos correcte

Improved existence for the characteristic initial value problem with the conformal Einstein field equations

We adapt Luk's analysis of the characteristic initial value problem in General Relativity to the asymptotic characteristic problem for the conformal Einstein field equations to demonstrate the local existence of solutions in a neighbourhood of the set on which the data are given. In particular, we obtain existence of solutions along a narrow rectangle along null infinity which, in turn, corresponds to an infinite domain in the asymptotic region of the physical spacetime. This result generalises work by K\'ann\'ar on the local existence of solutions to the characteristic initial value problem by means of Rendall's reduction strategy. In analysing the conformal Einstein equations we make use of the Newman-Penrose formalism and a gauge due to J. Stewart.Comment: 44 pages, 3 figures. arXiv admin note: text overlap with arXiv:1911.0004

On smoothness-asymmetric null infinities

We discuss the existence of asymptotically Euclidean initial data sets to the vacuum Einstein field equations which would give rise (modulo an existence result for the evolution equations near spatial infinity) to developments with a past and a future null infinity of different smoothness. For simplicity, the analysis is restricted to the class of conformally flat, axially symmetric initial data sets. It is shown how the free parameters in the second fundamental form of the data can be used to satisfy certain obstructions to the smoothness of null infinity. The resulting initial data sets could be interpreted as those of some sort of (non-linearly) distorted Schwarzschild black hole. Its developments would be so that they admit a peeling future null infinity, but at the same time have a polyhomogeneous (non-peeling) past null infinity.Comment: 13 pages, 1 figur