arXiv subjects

Yang Zheng

Publications and source records attributed to Yang Zheng.

At least 145 records · Page 8Linked to original sources

arXiv2020

Smoothing Traffic Flow via Control of Autonomous Vehicles

The emergence of autonomous vehicles is expected to revolutionize road transportation in the near future. Although large-scale numerical simulations and small-scale experiments have shown promising results, a comprehensive theoretical understanding to smooth traffic flow via autonomous vehicles is lacking. In this paper, from a control-theoretic perspective, we establish analytical results on the controllability, stabilizability, and reachability of a mixed traffic system consisting of human-driven vehicles and autonomous vehicles in a ring road. We show that the mixed traffic system is not completely controllable, but is stabilizable, indicating that autonomous vehicles can not only suppress unstable traffic waves but also guide the traffic flow to a higher speed. Accordingly, we establish the maximum traffic speed achievable via controlling autonomous vehicles. Numerical results show that the traffic speed can be increased by over 6% when there are only 5% autonomous vehicles. We also design an optimal control strategy for autonomous vehicles to actively dampen undesirable perturbations. These theoretical findings validate the high potential of autonomous vehicles to smooth traffic flow.

math.OC↗

arXiv2020

MNEW: Multi-domain Neighborhood Embedding and Weighting for Sparse Point Clouds Segmentation

Point clouds have been widely adopted in 3D semantic scene understanding. However, point clouds for typical tasks such as 3D shape segmentation or indoor scenario parsing are much denser than outdoor LiDAR sweeps for the application of autonomous driving perception. Due to the spatial property disparity, many successful methods designed for dense point clouds behave depreciated effectiveness on the sparse data. In this paper, we focus on the semantic segmentation task of sparse outdoor point clouds. We propose a new method called MNEW, including multi-domain neighborhood embedding, and attention weighting based on their geometry distance, feature similarity, and neighborhood sparsity. The network architecture inherits PointNet which directly process point clouds to capture pointwise details and global semantics, and is improved by involving multi-scale local neighborhoods in static geometry domain and dynamic feature space. The distance/similarity attention and sparsity-adapted weighting mechanism of MNEW enable its capability for a wide range of data sparsity distribution. With experiments conducted on virtual and real KITTI semantic datasets, MNEW achieves the top performance for sparse point clouds, which is important to the application of LiDAR-based automated driving perception.

cs.CV↗

arXiv2020

Optimal Formation of Autonomous Vehicles in Mixed Traffic Flow

Platooning of multiple autonomous vehicles has attracted significant attention in both academia and industry. Despite its great potential, platooning is not the only choice for the formation of autonomous vehicles in mixed traffic flow, where autonomous vehicles and human-driven vehicles (HDVs) coexist. In this paper, we investigate the optimal formation of autonomous vehicles that can achieve an optimal system-wide performance in mixed traffic flow. Specifically, we consider the optimal $\mathcal{H}_2$ performance of the entire traffic flow, reflecting the potential of autonomous vehicles in mitigating traffic perturbations. Then, we formulate the optimal formation problem as a set function optimization problem. Numerical results reveal two predominant optimal formations: uniform distribution and platoon formation, depending on traffic parameters. In addition, we show that 1) the prevailing platoon formation is not always the optimal choice; 2) platoon formation might be the worst choice when HDVs have a poor string stability behavior. These results suggest more opportunities for the formation of autonomous vehicles, beyond platooning, in mixed traffic flow.

math.OC↗

arXiv2020

Automatic removal of false image stars in disk-resolved images of the Cassini Imaging Science Subsystem

Taking a large amount of images, the Cassini Imaging Science Subsystem (ISS) has been routinely used in astrometry. In ISS images, disk-resolved objects often lead to false detection of stars that disturb the camera pointing correction. The aim of this study was to develop an automated processing method to remove the false image stars in disk-resolved objects in ISS images. The method included the following steps: extracting edges, segmenting boundary arcs, fitting circles and excluding false image stars. The proposed method was tested using 200 ISS images. Preliminary experimental results show that it can remove the false image stars in more than 95% of ISS images with disk-resolved objects in a fully automatic manner, i.e. outperforming the traditional circle detection based on Circular Hough Transform (CHT) by 17%. In addition, its speed is more than twice as fast as that of the CHT method. It is also more robust (no manual parameter tuning is needed) when compared with CHT. The proposed method was also applied to a set of ISS images of Rhea to eliminate the mismatch in pointing correction in automatic procedure. Experiment results showed that the precision of final astrometry results can be improve by roughly 2 times than that of automatic procedure without the method. It proved that the proposed method is helpful in the astrometry of ISS images in fully automatic manner.

astro-ph.IM↗

arXiv2020

Controllability Analysis and Optimal Control of Mixed Traffic Flow with Human-driven and Autonomous Vehicles

Connected and automated vehicles (CAVs) have a great potential to improve traffic efficiency in mixed traffic systems, which has been demonstrated by multiple numerical simulations and field experiments. However, some fundamental properties of mixed traffic flow, including controllability and stabilizability, have not been well understood. This paper analyzes the controllability of mixed traffic systems and designs a system-level optimal control strategy. Using the Popov-Belevitch-Hautus (PBH) criterion, we prove for the first time that a ring-road mixed traffic system with one CAV and multiple heterogeneous human-driven vehicles is not completely controllable, but is stabilizable under a very mild condition. Then, we formulate the design of a system-level control strategy for the CAV as a structured optimal control problem, where the CAV's communication ability is explicitly considered. Finally, we derive an upper bound for reachable traffic velocity via controlling the CAV. Extensive numerical experiments verify the effectiveness of our analytical results and the proposed control strategy. Our results validate the possibility of utilizing CAVs as mobile actuators to smooth traffic flow actively.

math.OC↗

arXiv2019

Chordal Decomposition in Rank Minimized Semidefinite Programs with Applications to Subspace Clustering

Semidefinite programs (SDPs) often arise in relaxations of some NP-hard problems, and if the solution of the SDP obeys certain rank constraints, the relaxation will be tight. Decomposition methods based on chordal sparsity have already been applied to speed up the solution of sparse SDPs, but methods for dealing with rank constraints are underdeveloped. This paper leverages a minimum rank completion result to decompose the rank constraint on a single large matrix into multiple rank constraints on a set of smaller matrices. The re-weighted heuristic is used as a proxy for rank, and the specific form of the heuristic preserves the sparsity pattern between iterations. Implementations of rank-minimized SDPs through interior-point and first-order algorithms are discussed. The problem of subspace clustering is used to demonstrate the computational improvement of the proposed method.

math.OC↗

arXiv2019

On the Existence of Block-Diagonal Solutions to Lyapunov and $\mathcal{H}_{\infty}$ Riccati Inequalities

In this paper, we describe sufficient conditions when block-diagonal solutions to Lyapunov and $\mathcal{H}_{\infty}$ Riccati inequalities exist. In order to derive our results, we define a new type of comparison systems, which are positive and are computed using the state-space matrices of the original (possibly nonpositive) systems. Computing the comparison system involves only the calculation of $\mathcal{H}_{\infty}$ norms of its subsystems. We show that the stability of this comparison system implies the existence of block-diagonal solutions to Lyapunov and Riccati inequalities. Furthermore, our proof is constructive and the overall framework allows the computation of block-diagonal solutions to these matrix inequalities with linear algebra and linear programming. Numerical examples illustrate our theoretical results.

math.OC↗

arXiv2019

Distributed Design for Decentralized Control using Chordal Decomposition and ADMM

We propose a distributed design method for decentralized control by exploiting the underlying sparsity properties of the problem. Our method is based on chordal decomposition of sparse block matrices and the alternating direction method of multipliers (ADMM). We first apply a classical parameterization technique to restrict the optimal decentralized control into a convex problem that inherits the sparsity pattern of the original problem. The parameterization relies on a notion of strongly decentralized stabilization, and sufficient conditions are discussed to guarantee this notion. Then, chordal decomposition allows us to decompose the convex restriction into a problem with partially coupled constraints, and the framework of ADMM enables us to solve the decomposed problem in a distributed fashion. Consequently, the subsystems only need to share their model data with their direct neighbours, not needing a central computation. Numerical experiments demonstrate the effectiveness of the proposed method.

math.OC↗

arXiv2019

On the Equivalence of Youla, System-level and Input-output Parameterizations

A convex parameterization of internally stabilizing controllers is fundamental for many controller synthesis procedures. The celebrated Youla parameterization relies on a doubly-coprime factorization of the system, while the recent system-level and input-output characterizations require no doubly-coprime factorization but a set of equality constraints for achievable closed-loop responses. In this paper, we present explicit affine mappings among Youla, system-level and input-output parameterizations. Two direct implications of the affine mappings are 1) any convex problem in Youla, system level, or input-output parameters can be equivalently and convexly formulated in any other one of these frameworks, including the convex system-level synthesis (SLS); 2) the condition of quadratic invariance (QI) is sufficient and necessary for the classical distributed control problem to admit an equivalent convex reformulation in terms of Youla, system-level, or input-output parameters.

math.OC↗

arXiv2019

Robust quantitative single-exposure laser speckle imaging with true flow speckle contrast in the temporal and spatial domains

A systematic and robust laser speckle contrast imaging (LSCI) method and procedure is presented, covering the LSCI system calibration, static scattering removal, and measurement noise estimation and correction to obtain a true flow speckle contrast and the flow speed from single-exposure LSCI measurements. We advocate to use as the speckle contrast instead of the conventional contrast K as the former relates simply to the flow velocity and is with additive noise alone. We demonstrate the efficacy of the proposed true flow speckle contrast by imaging phantom flow at varying speeds, showing that (1) the proposed recipe greatly enhances the linear sensitivity of the flow index (inverse decorrelation time) and the linearity covers the full span of flow speeds from 0 mm/s to 40 mm/s; and (2) the true flow speed can be recovered regardless of the overlying static scattering layers and the type of speckle statistics (temporal or spatial). The fundamental difference between the apparent temporal and spatial speckle contrasts is further revealed. The flow index recovered in the spatial domain is much more susceptible to static scattering and exhibit a shorter linearity range than that obtained in the temporal domain. The proposed LSCI analysis framework paves the way to estimate the true flow speed in the wide array of laser speckle contrast imaging applications.

physics.app-ph↗

arXiv2019

GFD-SSD: Gated Fusion Double SSD for Multispectral Pedestrian Detection

Pedestrian detection is an essential task in autonomous driving research. In addition to typical color images, thermal images benefit the detection in dark environments. Hence, it is worthwhile to explore an integrated approach to take advantage of both color and thermal images simultaneously. In this paper, we propose a novel approach to fuse color and thermal sensors using deep neural networks (DNN). Current state-of-the-art DNN object detectors vary from two-stage to one-stage mechanisms. Two-stage detectors, like Faster-RCNN, achieve higher accuracy, while one-stage detectors such as Single Shot Detector (SSD) demonstrate faster performance. To balance the trade-off, especially in the consideration of autonomous driving applications, we investigate a fusion strategy to combine two SSDs on color and thermal inputs. Traditional fusion methods stack selected features from each channel and adjust their weights. In this paper, we propose two variations of novel Gated Fusion Units (GFU), that learn the combination of feature maps generated by the two SSD middle layers. Leveraging GFUs for the entire feature pyramid structure, we propose several mixed versions of both stack fusion and gated fusion. Experiments are conducted on the KAIST multispectral pedestrian detection dataset. Our Gated Fusion Double SSD (GFD-SSD) outperforms the stacked fusion and achieves the lowest miss rate in the benchmark, at an inference speed that is two times faster than Faster-RCNN based fusion networks.

cs.CV↗

arXiv2019

Block Factor-Width-Two Matrices in Semidefinite Programming

In this paper, we introduce a set of block factor-width-two matrices, which is a generalisation of factor-width-two matrices and is a subset of positive semidefinite matrices. The set of block factor-width-two matrices is a proper cone and we compute a closed-form expression for its dual cone. We use these cones to build hierarchies of inner and outer approximations of the cone of positive semidefinite matrices. The main feature of these cones is that they enable a decomposition of a large semidefinite constraint into a number of smaller semidefinite constraints. As the main application of these classes of matrices, we envision large-scale semidefinite feasibility optimisation programs including sum-of-squares (SOS) programs. We present numerical examples from SOS optimisation showcasing the properties of this decomposition.

math.OC↗

arXiv2019

Exploring OpenStreetMap Availability for Driving Environment Understanding

With the great achievement of artificial intelligence, vehicle technologies have advanced significantly from human centric driving towards fully automated driving. An intelligent vehicle should be able to understand the driver's perception of the environment as well as controlling behavior of the vehicle. Since high digital map information has been available to provide rich environmental context about static roads, buildings and traffic infrastructures, it would be worthwhile to explore map data capability for driving task understanding. Alternative to commercial used maps, the OpenStreetMap (OSM) data is a free open dataset, which makes it unique for the exploration research. This study is focused on two tasks that leverage OSM for driving environment understanding. First, driving scenario attributes are retrieved from OSM elements, which are combined with vehicle dynamic signals for the driving event recognition. Utilizing steering angle changes and based on a Bi-directional Recurrent Neural Network (Bi-RNN), a driving sequence is segmented and classified as lane-keeping, lane-change-left, lane-change-right, turn-left, and turn-right events. Second, for autonomous driving perception, OSM data can be used to render virtual street views, represented as prior knowledge to fuse with vision/laser systems for road semantic segmentation. Five different types of road masks are generated from OSM, images, and Lidar points, and fused to characterize the drivable space at the driver's perspective. An alternative data-driven approach is based on a Fully Convolutional Network (FCN), OSM availability for deep learning methods are discussed to reveal potential usage on compensating street view images and automatic road semantic annotation.

cs.HC↗

arXiv2019

On Separable Quadratic Lyapunov Functions for Convex Design of Distributed Controllers

We consider the problem of designing a stabilizing and optimal static controller with a pre-specified sparsity pattern. Since this problem is NP-hard in general, it is necessary to resort to approximation approaches. In this paper, we characterize a class of convex restrictions of this problem that are based on designing a separable quadratic Lyapunov function for the closed-loop system. This approach generalizes previous results based on optimizing over diagonal Lyapunov functions, thus allowing for improved feasibility and performance. Moreover, we suggest a simple procedure to compute favourable structures for the Lyapunov function yielding high-performance distributed controllers. Numerical examples validate our results.

eess.SY↗

arXiv2019

Chordal decomposition in operator-splitting methods for sparse semidefinite programs

We employ chordal decomposition to reformulate a large and sparse semidefinite program (SDP), either in primal or dual standard form, into an equivalent SDP with smaller positive semidefinite (PSD) constraints. In contrast to previous approaches, the decomposed SDP is suitable for the application of first-order operator-splitting methods, enabling the development of efficient and scalable algorithms. In particular, we apply the alternating direction method of multipliers (ADMM) to solve decomposed primal- and dual-standard-form SDPs. Each iteration of such ADMM algorithms requires a projection onto an affine subspace, and a set of projections onto small PSD cones that can be computed in parallel. We also formulate the homogeneous self-dual embedding (HSDE) of a primal-dual pair of decomposed SDPs, and extend a recent ADMM-based algorithm to exploit the structure of our HSDE. The resulting HSDE algorithm has the same leading-order computational cost as those for the primal or dual problems only, with the advantage of being able to identify infeasible problems and produce an infeasibility certificate. All algorithms are implemented in the open-source MATLAB solver CDCS. Numerical experiments on a range of large-scale SDPs demonstrate the computational advantages of the proposed methods compared to common state-of-the-art solvers.

math.OC↗

arXiv2018

TStarBots: Defeating the Cheating Level Builtin AI in StarCraft II in the Full Game

Starcraft II (SC2) is widely considered as the most challenging Real Time Strategy (RTS) game. The underlying challenges include a large observation space, a huge (continuous and infinite) action space, partial observations, simultaneous move for all players, and long horizon delayed rewards for local decisions. To push the frontier of AI research, Deepmind and Blizzard jointly developed the StarCraft II Learning Environment (SC2LE) as a testbench of complex decision making systems. SC2LE provides a few mini games such as MoveToBeacon, CollectMineralShards, and DefeatRoaches, where some AI agents have achieved the performance level of human professional players. However, for full games, the current AI agents are still far from achieving human professional level performance. To bridge this gap, we present two full game AI agents in this paper - the AI agent TStarBot1 is based on deep reinforcement learning over a flat action structure, and the AI agent TStarBot2 is based on hard-coded rules over a hierarchical action structure. Both TStarBot1 and TStarBot2 are able to defeat the built-in AI agents from level 1 to level 10 in a full game (1v1 Zerg-vs-Zerg game on the AbyssalReef map), noting that level 8, level 9, and level 10 are cheating agents with unfair advantages such as full vision on the whole map and resource harvest boosting. To the best of our knowledge, this is the first public work to investigate AI agents that can defeat the built-in AI in the StarCraft II full game.

cs.AI↗

arXiv2018

Parametrized Deep Q-Networks Learning: Reinforcement Learning with Discrete-Continuous Hybrid Action Space

Most existing deep reinforcement learning (DRL) frameworks consider either discrete action space or continuous action space solely. Motivated by applications in computer games, we consider the scenario with discrete-continuous hybrid action space. To handle hybrid action space, previous works either approximate the hybrid space by discretization, or relax it into a continuous set. In this paper, we propose a parametrized deep Q-network (P- DQN) framework for the hybrid action space without approximation or relaxation. Our algorithm combines the spirits of both DQN (dealing with discrete action space) and DDPG (dealing with continuous action space) by seamlessly integrating them. Empirical results on a simulation example, scoring a goal in simulated RoboCup soccer and the solo mode in game King of Glory (KOG) validate the efficiency and effectiveness of our method.

cs.LG↗

arXiv2018

Fast ADMM for sum-of-squares programs using partial orthogonality

When sum-of-squares (SOS) programs are recast as semidefinite programs (SDPs) using the standard monomial basis, the constraint matrices in the SDP possess a structural property that we call \emph{partial orthogonality}. In this paper, we leverage partial orthogonality to develop a fast first-order method, based on the alternating direction method of multipliers (ADMM), for the solution of the homogeneous self-dual embedding of SDPs describing SOS programs. Precisely, we show how a "diagonal plus low rank" structure implied by partial orthogonality can be exploited to project efficiently the iterates of a recent ADMM algorithm for generic conic programs onto the set defined by the affine constraints of the SDP. The resulting algorithm, implemented as a new package in the solver CDCS, is tested on a range of large-scale SOS programs arising from constrained polynomial optimization problems and from Lyapunov stability analysis of polynomial dynamical systems. These numerical experiments demonstrate the effectiveness of our approach compared to common state-of-the-art solvers.

math.OC↗