Controlling a Quadrotor Carrying a Cable-Suspended Load to Pass Through a Window

In this paper, we design an optimal control system for a quadrotor to carry a cable-suspended load flying through a window. As the window is narrower than the length of the cable, it is very challenging to design a practical control system to pass through it. Our solution includes a system identification component, a trajectory generation component, and a trajectory tracking control component. The exact dynamic model that usually derived from the first principles is assumed to be unavailable. Instead, a model identification approach is adopted, which relies on a simple but effective low order equivalent system (LOES) to describe the core dynamical characteristics of the system. After being excited by some specifically designed manoeuvres, the unknown parameters in the LOES are obtained by using a frequency based least square estimation algorithm. Based on the estimated LOES, a numerical optimization algorithm is then utilized for aggressive trajectory generation when relevant constraints are given. The generated trajectory can lead to the quadrotor and load system passing through a narrow window with a cascade PD trajectory tracking controller. Finally, a practical flight test based on an Astec Hummingbird quadrotor is demonstrated and the result validates the proposed approach

Case-Aware Adversarial Training

The neural network (NN) becomes one of the most heated type of models in various signal processing applications. However, NNs are extremely vulnerable to adversarial examples (AEs). To defend AEs, adversarial training (AT) is believed to be the most effective method while due to the intensive computation, AT is limited to be applied in most applications. In this paper, to resolve the problem, we design a generic and efficient AT improvement scheme, namely case-aware adversarial training (CAT). Specifically, the intuition stems from the fact that a very limited part of informative samples can contribute to most of model performance. Alternatively, if only the most informative AEs are used in AT, we can lower the computation complexity of AT significantly as maintaining the defense effect. To achieve this, CAT achieves two breakthroughs. First, a method to estimate the information degree of adversarial examples is proposed for AE filtering. Second, to further enrich the information that the NN can obtain from AEs, CAT involves a weight estimation and class-level balancing based sampling strategy to increase the diversity of AT at each iteration. Extensive experiments show that CAT is faster than vanilla AT by up to 3x while achieving competitive defense effect

FGAD: Self-boosted Knowledge Distillation for An Effective Federated Graph Anomaly Detection Framework

Graph anomaly detection (GAD) aims to identify anomalous graphs that significantly deviate from other ones, which has raised growing attention due to the broad existence and complexity of graph-structured data in many real-world scenarios. However, existing GAD methods usually execute with centralized training, which may lead to privacy leakage risk in some sensitive cases, thereby impeding collaboration among organizations seeking to collectively develop robust GAD models. Although federated learning offers a promising solution, the prevalent non-IID problems and high communication costs present significant challenges, particularly pronounced in collaborations with graph data distributed among different participants. To tackle these challenges, we propose an effective federated graph anomaly detection framework (FGAD). We first introduce an anomaly generator to perturb the normal graphs to be anomalous, and train a powerful anomaly detector by distinguishing generated anomalous graphs from normal ones. Then, we leverage a student model to distill knowledge from the trained anomaly detector (teacher model), which aims to maintain the personality of local models and alleviate the adverse impact of non-IID problems. Moreover, we design an effective collaborative learning mechanism that facilitates the personalization preservation of local models and significantly reduces communication costs among clients. Empirical results of the GAD tasks on non-IID graphs compared with state-of-the-art baselines demonstrate the superiority and efficiency of the proposed FGAD method

Multi-view Graph Convolutional Networks with Differentiable Node Selection

Multi-view data containing complementary and consensus information can facilitate representation learning by exploiting the intact integration of multi-view features. Because most objects in real world often have underlying connections, organizing multi-view data as heterogeneous graphs is beneficial to extracting latent information among different objects. Due to the powerful capability to gather information of neighborhood nodes, in this paper, we apply Graph Convolutional Network (GCN) to cope with heterogeneous-graph data originating from multi-view data, which is still under-explored in the field of GCN. In order to improve the quality of network topology and alleviate the interference of noises yielded by graph fusion, some methods undertake sorting operations before the graph convolution procedure. These GCN-based methods generally sort and select the most confident neighborhood nodes for each vertex, such as picking the top-k nodes according to pre-defined confidence values. Nonetheless, this is problematic due to the non-differentiable sorting operators and inflexible graph embedding learning, which may result in blocked gradient computations and undesired performance. To cope with these issues, we propose a joint framework dubbed Multi-view Graph Convolutional Network with Differentiable Node Selection (MGCN-DNS), which is constituted of an adaptive graph fusion layer, a graph learning module and a differentiable node selection schema. MGCN-DNS accepts multi-channel graph-structural data as inputs and aims to learn more robust graph fusion through a differentiable neural network. The effectiveness of the proposed method is verified by rigorous comparisons with considerable state-of-the-art approaches in terms of multi-view semi-supervised classification tasks