arXiv subjects

Joshua Siegel

Publications and source records attributed to Joshua Siegel.

6 recordsLinked to original sources

arXiv2025

A Roadside Unit for Infrastructure Assisted Intersection Control of Autonomous Vehicles

Recent advances in autonomous vehicle technologies and cellular network speeds motivate developments in vehicle-to-everything (V2X) communications. Enhanced road safety features and improved fuel efficiency are some of the motivations behind V2X for future transportation systems. Adaptive intersection control systems have considerable potential to achieve these goals by minimizing idle times and predicting short-term future traffic conditions. Integrating V2X into traffic management systems introduces the infrastructure necessary to make roads safer for all users and initiates the shift towards more intelligent and connected cities. To demonstrate our control algorithm, we implement both a simulated and real-world representation of a 4-way intersection and crosswalk scenario with 2 self-driving electric vehicles, a roadside unit (RSU), and a traffic light. Our architecture reduces acceleration and braking through intersections by up to 75.35%, which has been shown to minimize fuel consumption in gas vehicles. We propose a cost-effective solution to intelligent and connected intersection control to serve as a proof-of-concept model suitable as the basis for continued research and development. Code for this project is available at https://github.com/MMachado05/REU-2024.

cs.RO↗

arXiv2025

Evaluating Low-Resource Lane Following Algorithms for Compute-Constrained Automated Vehicles

Reliable lane-following is essential for automated and assisted driving, yet existing solutions often rely on models that require extensive computational resources, limiting their deployment in compute-constrained vehicles. We evaluate five low-resource lane-following algorithms designed for real-time operation on vehicles with limited computing resources. Performance was assessed through simulation and deployment on real drive-by-wire electric vehicles, with evaluation metrics including reliability, comfort, speed, and adaptability. The top-performing methods used unsupervised learning to detect and separate lane lines with processing time under 10 ms per frame, outperforming compute-intensive and poor generalizing deep learning approaches. These approaches demonstrated robustness across lighting conditions, road textures, and lane geometries. The findings highlight the potential for efficient lane detection approaches to enhance the accessibility and reliability of autonomous vehicle technologies. Reducing computing requirements enables lane keeping to be widely deployed in vehicles as part of lower-level automation, including active safety systems.

cs.RO↗

arXiv2024

Impact of Network Topology on Byzantine Resilience in Decentralized Federated Learning

Federated learning (FL) enables a collaborative environment for training machine learning models without sharing training data between users. This is typically achieved by aggregating model gradients on a central server. Decentralized federated learning is a rising paradigm that enables users to collaboratively train machine learning models in a peer-to-peer manner, without the need for a central aggregation server. However, before applying decentralized FL in real-world use training environments, nodes that deviate from the FL process (Byzantine nodes) must be considered when selecting an aggregation function. Recent research has focused on Byzantine-robust aggregation for client-server or fully connected networks, but has not yet evaluated such aggregation schemes for complex topologies possible with decentralized FL. Thus, the need for empirical evidence of Byzantine robustness in differing network topologies is evident. This work investigates the effects of state-of-the-art Byzantine-robust aggregation methods in complex, large-scale network structures. We find that state-of-the-art Byzantine robust aggregation strategies are not resilient within large non-fully connected networks. As such, our findings point the field towards the development of topology-aware aggregation schemes, especially necessary within the context of large scale real-world deployment.

cs.LG↗

arXiv2024

Developing, Analyzing, and Evaluating Vehicular Lane Keeping Algorithms Under Dynamic Lighting and Weather Conditions Using Electric Vehicles

Self-driving vehicles have the potential to reduce accidents and fatalities on the road. Many production vehicles already come equipped with basic self-driving capabilities, but have trouble following lanes in adverse lighting and weather conditions. Therefore, we develop, analyze, and evaluate two vehicular lane-keeping algorithms under dynamic weather conditions using a combined deep learning- and hand-crafted approach and an end-to-end deep learning approach. We use image segmentation- and linear-regression based deep learning to drive the vehicle toward the center of the lane, measuring the amount of laps completed, average speed, and average steering error per lap. Our hybrid model completes more laps than our end-to-end deep learning model. In the future, we are interested in combining our algorithms to form one cohesive approach to lane-following.

cs.RO↗

arXiv2021

Cyberphysical Sequencing for Distributed Asset Management with Broad Traceability

Cyber-Physical systems (CPS) have complex lifecycles involving multiple stakeholders, and the transparency of both hardware and software components' supply chain is opaque at best. This raises concerns for stakeholders who may not trust that what they receive is what was requested. There is an opportunity to build a cyberphysical titling process offering universal traceability and the ability to differentiate systems based on provenance. Today, RFID tags and barcodes address some of these needs, though they are easily manipulated due to non-linkage with an object or system's intrinsic characteristics. We propose cyberphysical sequencing as a low-cost, light-weight and pervasive means of adding track-and-trace capabilities to any asset that ties a system's physical identity to a unique and invariant digital identifier. CPS sequencing offers benefits similar Digital Twins' for identifying and managing the provenance and identity of an asset throughout its life with far fewer computational and other resources.

cs.CR↗

arXiv2019

Temporal connection signatures of human brain networks after stroke

Plasticity after stroke is a complex phenomenon initiated by the functional reorganization of the brain, especially in the perilesional tissue. At macroscales, the reestablishment of segregation within the affected hemisphere and interhemispheric integration has been extensively documented in the reconfiguration of brain networks. However, the local connection mechanisms generating such global network changes are still largely unknown as well as their potential to better predict the outcome of patients. To address this question, time must be considered as a formal variable of the problem and not just a simple repeated observation. Here, we hypothesize that the temporal formation of basic connection blocks such as intermodule edges and intramodule triangles would be sufficient to determine the large-scale brain reorganization after stroke. To test our hypothesis, we adopted a statistical approach based on temporal exponential random graph models (tERGMs). First, we validated the overall performance on synthetic time-varying networks simulating the reconfiguration process after stroke. Then, using longitudinal functional connectivity measurements of resting-state brain activity, we showed that both the formation of triangles within the affected hemisphere and interhemispheric links are sufficient to reproduce the longitudinal brain network changes from 2 weeks to 1 year after the stroke. Finally, we showed that these temporal connection mechanisms are over-expressed in the subacute phase as compared to healthy controls and predicted the chronic language and visual outcome respectively in patients with subcortical and cortical lesions, whereas static approaches failed to do so. Our results indicate the importance of considering time-varying connection properties when modeling dynamic complex systems and provide fresh insights into the network mechanisms of stroke recovery.

q-bio.NC↗