arXiv subjects

Hao Xu

Publications and source records attributed to Hao Xu.

At least 343 records · Page 19Linked to original sources

arXiv2022

RACER: Rapid Collaborative Exploration with a Decentralized Multi-UAV System

Although the use of multiple Unmanned Aerial Vehicles (UAVs) has great potential for fast autonomous exploration, it has received far too little attention. In this paper, we present RACER, a RApid Collaborative ExploRation approach using a fleet of decentralized UAVs. To effectively dispatch the UAVs, a pairwise interaction based on an online hgrid space decomposition is used. It ensures that all UAVs simultaneously explore distinct regions, using only asynchronous and limited communication. Further, we optimize the coverage paths of unknown space and balance the workloads partitioned to each UAV with a Capacitated Vehicle Routing Problem(CVRP) formulation. Given the task allocation, each UAV constantly updates the coverage path and incrementally extracts crucial information to support the exploration planning. A hierarchical planner finds exploration paths, refines local viewpoints and generates minimum-time trajectories in sequence to explore the unknown space agilely and safely. The proposed approach is evaluated extensively, showing high exploration efficiency, scalability and robustness to limited communication. Furthermore, for the first time, we achieve fully decentralized collaborative exploration with multiple UAVs in real world. We will release our implementation as an open-source package.

cs.RO↗

arXiv2022

BDPGO: Balanced Distributed Pose Graph Optimization Framework for Swarm Robotics

Distributed pose graph optimization (DPGO) is one of the fundamental techniques of swarm robotics. Currently, the sub-problems of DPGO are built on the native poses. Our validation proves that this approach may introduce an imbalance in the sizes of the sub-problems in real-world scenarios, which affects the speed of DPGO optimization, and potentially increases communication requirements. In addition, the coherence of the estimated poses is not guaranteed when the robots in the swarm fail, or partial robots are disconnected. In this paper, we propose BDPGO, a balanced distributed pose graph optimization framework using the idea of decoupling the robot poses and DPGO. BDPGO re-distributes the poses in the pose graph to the robot swarm in a balanced way by introducing a two-stage graph partitioning method to build balanced subproblems. Our validation demonstrates that BDPGO significantly improves the optimization speed without changing the specific algorithm of DPGO in realistic datasets. What's more, we also validate that BDPGO is robust to robot failure, changes in the wireless network. BDPGO has capable of keeps the coherence of the estimated poses in these situations. The framework also has the potential to be applied to other collaborative simultaneous localization and mapping (CSLAM) problems involved in distributedly solving the factor graph.

cs.RO↗

arXiv2022

Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms

Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research topic. Omni-swarm, a decentralized omnidirectional visual-inertial-UWB state estimation system for aerial swarms, is proposed in this paper to address this research niche. To solve the issues of observability, complicated initialization, insufficient accuracy, and lack of global consistency, we introduce an omnidirectional perception front-end in Omni-swarm. It consists of stereo wide-FoV cameras and ultra-wideband sensors, visual-inertial odometry, multi-drone map-based localization, and visual drone tracking algorithms. The measurements from the front-end are fused with graph-based optimization in the back-end. The proposed method achieves centimeter-level relative state estimation accuracy while guaranteeing global consistency in the aerial swarm, as evidenced by the experimental results. Moreover, supported by Omni-swarm, inter-drone collision avoidance can be accomplished without any external devices, demonstrating the potential of Omni-swarm as the foundation of autonomous aerial swarms.

cs.RO↗

arXiv2022

Semi-Supervised Semantic Segmentation with Cross Teacher Training

Convolutional neural networks can achieve remarkable performance in semantic segmentation tasks. However, such neural network approaches heavily rely on costly pixel-level annotation. Semi-supervised learning is a promising resolution to tackle this issue, but its performance still far falls behind the fully supervised counterpart. This work proposes a cross-teacher training framework with three modules that significantly improves traditional semi-supervised learning approaches. The core is a cross-teacher module, which could simultaneously reduce the coupling among peer networks and the error accumulation between teacher and student networks. In addition, we propose two complementary contrastive learning modules. The high-level module can transfer high-quality knowledge from labeled data to unlabeled ones and promote separation between classes in feature space. The low-level module can encourage low-quality features learning from the high-quality features among peer networks. In experiments, the cross-teacher module significantly improves the performance of traditional student-teacher approaches, and our framework outperforms stateof-the-art methods on benchmark datasets. Our source code of CTT will be released.

cs.CV↗

arXiv2022

On the Ergodic Capacity of Reconfigurable Intelligent Surface (RIS)-Aided MIMO Channels

Reconfigurable intelligent surfaces (RISs) have emerged as a promising technique to enhance the system spectral efficiency. This paper investigates the ergodic channel capacity (ECC) of an RIS-aided multiple-input multiple-output channel under the assumption that the transmitter-RIS, RIS-receiver, and transmitter-receiver channels contain deterministic line-of-sight paths. Novel expressions are derived to characterize the upper and lower bounds of the ECC. To unveil more system insights, asymptotic analyses are performed to the system ECC in the limit of large signal-to-noise ratio (SNR) and number of reflecting elements (REs). Theoretical analyses suggest that the RIS's deployment can shape the ECC curve by influencing its high-SNR power offset and the ECC can get improved by increasing the number of REs.

cs.IT↗

arXiv2022

A Two-Phase Paradigm for Joint Entity-Relation Extraction

An exhaustive study has been conducted to investigate span-based models for the joint entity and relation extraction task. However, these models sample a large number of negative entities and negative relations during the model training, which are essential but result in grossly imbalanced data distributions and in turn cause suboptimal model performance. In order to address the above issues, we propose a two-phase paradigm for the span-based joint entity and relation extraction, which involves classifying the entities and relations in the first phase, and predicting the types of these entities and relations in the second phase. The two-phase paradigm enables our model to significantly reduce the data distribution gap, including the gap between negative entities and other entities, as well as the gap between negative relations and other relations. In addition, we make the first attempt at combining entity type and entity distance as global features, which has proven effective, especially for the relation extraction. Experimental results on several datasets demonstrate that the spanbased joint extraction model augmented with the two-phase paradigm and the global features consistently outperforms previous state-of-the-art span-based models for the joint extraction task, establishing a new standard benchmark. Qualitative and quantitative analyses further validate the effectiveness the proposed paradigm and the global features.

cs.CL↗

arXiv2022

Capacity Scaling Law in Massive MIMO with Antenna Selection

Antenna selection is capable of handling the cost and complexity issues in massive multiple-input multiple-output (MIMO) channels. The sum-rate capacity of a multiuser massive MIMO uplink channel is characterized under the Nakagami fading. A mathematically tractable sum-rate capacity upper bound is derived for the considered system. Moreover, for a sufficiently large base station (BS) antenna number, a deterministic equivalent (DE) of the sum-rate bound is derived. Based on this DE, the sum-rate capacity is shown to grow double logarithmically with the number of BS antennas. The validity of the analytical result is confirmed by numerical experiments.

cs.IT↗

arXiv2022

Discovery of partial differential equations from highly noisy and sparse data with physics-informed information criterion

Data-driven discovery of PDEs has made tremendous progress recently, and many canonical PDEs have been discovered successfully for proof-of-concept. However, determining the most proper PDE without prior references remains challenging in terms of practical applications. In this work, a physics-informed information criterion (PIC) is proposed to measure the parsimony and precision of the discovered PDE synthetically. The proposed PIC achieves state-of-the-art robustness to highly noisy and sparse data on seven canonical PDEs from different physical scenes, which confirms its ability to handle difficult situations. The PIC is also employed to discover unrevealed macroscale governing equations from microscopic simulation data in an actual physical scene. The results show that the discovered macroscale PDE is precise and parsimonious, and satisfies underlying symmetries, which facilitates understanding and simulation of the physical process. The proposition of PIC enables practical applications of PDE discovery in discovering unrevealed governing equations in broader physical scenes.

cs.LG↗

arXiv2022

Long Short-Term Preference Modeling for Continuous-Time Sequential Recommendation

Modeling the evolution of user preference is essential in recommender systems. Recently, dynamic graph-based methods have been studied and achieved SOTA for recommendation, majority of which focus on user's stable long-term preference. However, in real-world scenario, user's short-term preference evolves over time dynamically. Although there exists sequential methods that attempt to capture it, how to model the evolution of short-term preference with dynamic graph-based methods has not been well-addressed yet. In particular: 1) existing methods do not explicitly encode and capture the evolution of short-term preference as sequential methods do; 2) simply using last few interactions is not enough for modeling the changing trend. In this paper, we propose Long Short-Term Preference Modeling for Continuous-Time Sequential Recommendation (LSTSR) to capture the evolution of short-term preference under dynamic graph. Specifically, we explicitly encode short-term preference and optimize it via memory mechanism, which has three key operations: Message, Aggregate and Update. Our memory mechanism can not only store one-hop information, but also trigger with new interactions online. Extensive experiments conducted on five public datasets show that LSTSR consistently outperforms many state-of-the-art recommendation methods across various lines.

cs.IR↗

arXiv2022

Target density effects on charge tansfer of laser-accelerated carbon ions in dense plasma

We report on charge state measurements of laser-accelerated carbon ions in the energy range of several MeV penetrating a dense partially ionized plasma. The plasma was generated by irradiation of a foam target with laser-induced hohlraum radiation in the soft X-ray regime. We used the tri-cellulose acetate (C$_{9}$H$_{16}$O$_{8}$) foam of 2 mg/cm$^{-3}$ density, and $1$-mm interaction length as target material. This kind of plasma is advantageous for high-precision measurements, due to good uniformity and long lifetime compared to the ion pulse length and the interaction duration. The plasma parameters were diagnosed to be T$_{e}$=17 eV and n$_{e}$=4 $\times$ 10$^{20}$ cm$^{-3}$. The average charge states passing through the plasma were observed to be higher than those predicted by the commonly-used semiempirical formula. Through solving the rate equations, we attribute the enhancement to the target density effects which will increase the ionization rates on one hand and reduce the electron capture rates on the other hand. In previsous measurement with partially ionized plasma from gas discharge and z-pinch to laser direct irradiation, no target density effects were ever demonstrated. For the first time, we were able to experimentally prove that target density effects start to play a significant role in plasma near the critical density of Nd-Glass laser radiation. The finding is important for heavy ion beam driven high energy density physics and fast ignitions.

physics.plasm-ph↗

arXiv2022

Lens Antenna Arrays-Assisted mmWave MU-MIMO Uplink Transmission: Joint Beam Selection and Phase-Only Beamforming Design

This paper considers a lens antenna array-assisted millimeter wave (mmWave) multiuser multiple-input multiple-output (MU-MIMO) system. The base station's beam selection matrix and user terminals' phase-only beamformers are jointly designed with the aim of maximizing the uplink sum rate. In order to deal with the formulated mixed-integer optimization problem, a penalty dual decomposition (PDD)-based iterative algorithm is developed via capitalizing on the weighted minimum mean square error (WMMSE), block coordinate descent (BCD), and minorization-maximization (MM) techniques. Moreover, a low-complexity sequential optimization (SO)-based algorithm is proposed at the cost of a slight sum rate performance loss. Numerical results demonstrate that the proposed methods can achieve higher sum rates than state-of-the-art methods.

eess.SP↗

arXiv2022

Research on Stable Obstacle Avoidance Control Strategy for Tracked Intelligent Transportation Vehicles in Non-structural Environment Based on Deep Learning

Existing intelligent driving technology often has a problem in balancing smooth driving and fast obstacle avoidance, especially when the vehicle is in a non-structural environment, and is prone to instability in emergency situations. Therefore, this study proposed an autonomous obstacle avoidance control strategy that can effectively guarantee vehicle stability based on Attention-long short-term memory (Attention-LSTM) deep learning model with the idea of humanoid driving. First, we designed the autonomous obstacle avoidance control rules to guarantee the safety of unmanned vehicles. Second, we improved the autonomous obstacle avoidance control strategy combined with the stability analysis of special vehicles. Third, we constructed a deep learning obstacle avoidance control through experiments, and the average relative error of this system was 15%. Finally, the stability and accuracy of this control strategy were verified numerically and experimentally. The method proposed in this study can ensure that the unmanned vehicle can successfully avoid the obstacles while driving smoothly.

cs.RO↗

arXiv2022

A Note on Fourier-Motzkin Elimination with Three Eliminating Variables

In this note, we show how difficult the brute-force Fourier-Motzkin elimination is, even in a simple case with three eliminating variables. Specifically, we first give a theorem, which plays quite an important role in the study of information-theoretic security for a multiple access wiretap (MAC-WT) channel, and then prove it for the case with three users by directly using the Fourier-Motzkin procedure. It is shown that large amounts of inequalities are generated in the elimination procedure while most of them are redundant. Actually, the number of generated inequalities grows doubly exponentially with the number of users or eliminating variables. It thus becomes unmanageable to directly prove the theorem in this brute-force way. Besides the great complexity, another disadvantage of the direct strategy is that it works only if the number of users is given. Obviously, this makes the strategy inappropriate for the proof of the theorem since it is a general result for any number of users. It is thus urgent and challenging to generally prove the theorem.

cs.IT↗

arXiv2022

CharFormer: A Glyph Fusion based Attentive Framework for High-precision Character Image Denoising

Degraded images commonly exist in the general sources of character images, leading to unsatisfactory character recognition results. Existing methods have dedicated efforts to restoring degraded character images. However, the denoising results obtained by these methods do not appear to improve character recognition performance. This is mainly because current methods only focus on pixel-level information and ignore critical features of a character, such as its glyph, resulting in character-glyph damage during the denoising process. In this paper, we introduce a novel generic framework based on glyph fusion and attention mechanisms, i.e., CharFormer, for precisely recovering character images without changing their inherent glyphs. Unlike existing frameworks, CharFormer introduces a parallel target task for capturing additional information and injecting it into the image denoising backbone, which will maintain the consistency of character glyphs during character image denoising. Moreover, we utilize attention-based networks for global-local feature interaction, which will help to deal with blind denoising and enhance denoising performance. We compare CharFormer with state-of-the-art methods on multiple datasets. The experimental results show the superiority of CharFormer quantitatively and qualitatively.

cs.CV↗

arXiv2022

RCRN: Real-world Character Image Restoration Network via Skeleton Extraction

Constructing high-quality character image datasets is challenging because real-world images are often affected by image degradation. There are limitations when applying current image restoration methods to such real-world character images, since (i) the categories of noise in character images are different from those in general images; (ii) real-world character images usually contain more complex image degradation, e.g., mixed noise at different noise levels. To address these problems, we propose a real-world character restoration network (RCRN) to effectively restore degraded character images, where character skeleton information and scale-ensemble feature extraction are utilized to obtain better restoration performance. The proposed method consists of a skeleton extractor (SENet) and a character image restorer (CiRNet). SENet aims to preserve the structural consistency of the character and normalize complex noise. Then, CiRNet reconstructs clean images from degraded character images and their skeletons. Due to the lack of benchmarks for real-world character image restoration, we constructed a dataset containing 1,606 character images with real-world degradation to evaluate the validity of the proposed method. The experimental results demonstrate that RCRN outperforms state-of-the-art methods quantitatively and qualitatively.

cs.CV↗

arXiv2022

Some Discussions on PHY Security in DF Relay

Physical layer (PHY) security in decode-and-forward (DF) relay systems is discussed. Based on the types of wiretap links, the secrecy performance of three typical secure DF relay models is analyzed. Different from conventional works in this field, rigorous derivations of the secrecy channel capacity are provided from an information-theoretic perspective. Meanwhile, closed-form expressions are derived to characterize the secrecy outage probability (SOP). For the sake of unveiling more system insights, asymptotic analyses are performed on the SOP for a sufficiently large signal-to-noise ratio (SNR). The analytical results are validated by computer simulations and are in excellent agreement.

cs.IT↗

arXiv2022

Entropy production and correlation spreading in the interaction between particle detector and thermal baths

Entropy production is the key to the second law of thermodynamics, and it is well defined by considering a joint unitary evolution of a system $S$ and a thermal environment $E$. However, due to the diversity of the initial state and Hamiltonian of the system and environment, it is hard to evaluate the characterisation of entropy production. In the present work, we propose that the evolution of $S$ and $E$ can be solved non-perturbatively in the framework of Gaussian quantum mechanics (GQM). We study the entropy production and correlation spreading in the interaction between Unruh-DeWitt-like particle detector and thermal baths, where the particle detector is set to be a harmonic oscillator and the thermal baths are made of interacting and noninteracting Gaussian states. We can observe that the entropy production implies quantum recurrence and shows periodicity. In the case of interacting bath, the correlation propagates in a periodic system and leads to a revival of the initial state. Our analysis can be extended to any other models in the framework of GQM, and it may also shed some light on the AdS/CFT correspondence.

quant-ph↗

arXiv2022

Distributed Information Bottleneck for a Primitive Gaussian Diamond Channel with Rayleigh Fading

This paper considers the distributed information bottleneck (D-IB) problem for a primitive Gaussian diamond channel with two relays and Rayleigh fading. Due to the bottleneck constraint, it is impossible for the relays to inform the destination node of the perfect channel state information (CSI) in each realization. To evaluate the bottleneck rate, we provide an upper bound by assuming that the destination node knows the CSI and the relays can cooperate with each other, and also three achievable schemes with simple symbol-by-symbol relay processing and compression. Numerical results show that the lower bounds obtained by the proposed achievable schemes can come close to the upper bound on a wide range of relevant system parameters.

cs.IT↗