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Yuanqing Xia

Publications and source records attributed to Yuanqing Xia.

64 records · Page 4Linked to original sources

Revisiting Graph Convolutional Network on Semi-Supervised Node Classification from an Optimization Perspective

Graph convolutional networks (GCNs) have achieved promising performance on various graph-based tasks. However they suffer from over-smoothing when stacking more layers. In this paper, we present a quantitative study on this observation and develop novel insights towards the deeper GCN. First, we interpret the current graph convolutional operations from an optimization perspective and argue that over-smoothing is mainly caused by the naive first-order approximation of the solution to the optimization problem. Subsequently, we introduce two metrics to measure the over-smoothing on node-level tasks. Specifically, we calculate the fraction of the pairwise distance between connected and disconnected nodes to the overall distance respectively. Based on our theoretical and empirical analysis, we establish a universal theoretical framework of GCN from an optimization perspective and derive a novel convolutional kernel named GCN+ which has lower parameter amount while relieving the over-smoothing inherently. Extensive experiments on real-world datasets demonstrate the superior performance of GCN+ over state-of-the-art baseline methods on the node classification tasks.

cs.LG↗

Generic Detectability and Isolability of Topology Failures in Networked Linear Systems

This paper studies the possibility of detecting and isolating topology failures (including link failures and node failures) of a networked system from subsystem measurements, in which subsystems are of fixed high-order linear dynamics, and the exact interaction weights among them are unknown. We prove that in such class of networked systems with the same network topologies, the detectability and isolability of a given topology failure (set) are generic properties, indicating that it is the network topology that dominates the property of being detectable or isolable for a failure (set). We first give algebraic conditions for detectability and isolability of arbitrary parameter perturbations for a lumped plant, and then derive graph-theoretical necessary and sufficient conditions for generic detectability and isolability of topology failures for the networked systems. On the basis of these results, we consider the problems of deploying the smallest set of sensors for generic detectability and isolability. We reduce the associated sensor placement problems to the hitting set problems, which can be effectively solved by greedy algorithms with guaranteed approximation performances.

eess.SY↗

Stochastic Graph Recurrent Neural Network

Representation learning over graph structure data has been widely studied due to its wide application prospects. However, previous methods mainly focus on static graphs while many real-world graphs evolve over time. Modeling such evolution is important for predicting properties of unseen networks. To resolve this challenge, we propose SGRNN, a novel neural architecture that applies stochastic latent variables to simultaneously capture the evolution in node attributes and topology. Specifically, deterministic states are separated from stochastic states in the iterative process to suppress mutual interference. With semi-implicit variational inference integrated to SGRNN, a non-Gaussian variational distribution is proposed to help further improve the performance. In addition, to alleviate KL-vanishing problem in SGRNN, a simple and interpretable structure is proposed based on the lower bound of KL-divergence. Extensive experiments on real-world datasets demonstrate the effectiveness of the proposed model. Code is available at https://github.com/StochasticGRNN/SGRNN.

stat.ML↗

Distributed Formation Control of Multi-Robot Systems: A Fixed-Time Behavioral Approach

This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is proposed to tackle the problem, where a global formation task is divided into two local prioritized subtasks, and each of them leads to a desired velocity that can achieve the individual task in a fixed time. Then, two desired velocities are combined via the framework of the null-space-based behavioral projection, leading to a desired merged velocity that guarantees the fixed-time convergence of task errors. Finally, the effectiveness of the proposed control method is demonstrated by simulation results.

math.OC↗

Structural Controllability of Undirected Diffusive Networks with Vector-Weighted Edges

In this paper, controllability of undirected networked systems with {diffusively coupled subsystems} is considered, where each subsystem is of {identically {\emph{fixed}}} general high-order single-input-multi-output dynamics. The underlying graph of the network topology is {\emph{vector-weighted}}, rather than scalar-weighted. The aim is to find conditions under which the networked system is structurally controllable, i.e., for almost all vector values for interaction links of the network topology, the corresponding system is controllable. It is proven that, the networked system is structurally controllable, if and only if each subsystem is controllable and observable, and the network topology is globally input-reachable. These conditions are further extended to the cases {with multi-input-multi-output subsystems and matrix-weighted edges,} or where both directed and undirected interaction links exist.

eess.SY↗

Crowdsensing Game with Demand Uncertainties: A Deep Reinforcement Learning Approach

Currently, explosive increase of smartphones with powerful built-in sensors such as GPS, accelerometers, gyroscopes and cameras has made the design of crowdsensing applications possible, which create a new interface between human beings and life environment. Until now, various mobile crowdsensing applications have been designed, where the crowdsourcers can employ mobile users (MUs) to complete the required sensing tasks. In this paper, emerging learning-based techniques are leveraged to address crowdsensing game with demand uncertainties and private information protection of MUs. Firstly, a novel economic model for mobile crowdsensing is designed, which takes MUs' resources constraints and demand uncertainties into consideration. Secondly, an incentive mechanism based on Stackelberg game is provided, where the sensing-platform (SP) is the leader and the MUs are the followers. Then, the existence and uniqueness of the Stackelberg Equilibrium (SE) is proven and the procedure for computing the SE is given. Furthermore, a dynamic incentive mechanism (DIM) based on deep reinforcement learning (DRL) approach is investigated without knowing the private information of the MUs. It enables the SP to learn the optimal pricing strategy directly from game experience without any prior knowledge about MUs' information. Finally, numerical simulations are implemented to evaluate the performance and theoretical properties of the proposed mechanism and approach.

cs.CY↗

A Novel Learning-based Global Path Planning Algorithm for Planetary Rovers

Autonomous path planning algorithms are significant to planetary exploration rovers, since relying on commands from Earth will heavily reduce their efficiency of executing exploration missions. This paper proposes a novel learning-based algorithm to deal with global path planning problem for planetary exploration rovers. Specifically, a novel deep convolutional neural network with double branches (DB-CNN) is designed and trained, which can plan path directly from orbital images of planetary surfaces without implementing environment mapping. Moreover, the planning procedure requires no prior knowledge about planetary surface terrains. Finally, experimental results demonstrate that DB-CNN achieves better performance on global path planning and faster convergence during training compared with the existing Value Iteration Network (VIN).

cs.CV↗

A Novel Deep Neural Network Architecture for Mars Visual Navigation

In this paper, emerging deep learning techniques are leveraged to deal with Mars visual navigation problem. Specifically, to achieve precise landing and autonomous navigation, a novel deep neural network architecture with double branches and non-recurrent structure is designed, which can represent both global and local deep features of Martian environment images effectively. By employing this architecture, Mars rover can determine the optimal navigation policy to the target point directly from original Martian environment images. Moreover, compared with the existing state-of-the-art algorithm, the training time is reduced by 45.8%. Finally, experiment results demonstrate that the proposed deep neural network architecture achieves better performance and faster convergence than the existing ones and generalizes well to unknown environment.

cs.CV↗

Robust MPC for tracking of nonholonomic robots with additive disturbances

In this paper, two robust model predictive control (MPC) schemes are proposed for tracking control of nonholonomic systems with bounded disturbances: tube-MPC and nominal robust MPC (NRMPC). In tube-MPC, the control signal consists of a control action and a nonlinear feedback law based on the deviation of the actual states from the states of a nominal system. It renders the actual trajectory within a tube centered along the optimal trajectory of the nominal system. Recursive feasibility and input-to-state stability are established and the constraints are ensured by tightening the input domain and the terminal region. While in NRMPC, an optimal control sequence is obtained by solving an optimization problem based on the current state, and the first portion of this sequence is applied to the real system in an open-loop manner during each sampling period. The state of nominal system model is updated by the actual state at each step, which provides additional a feedback. By introducing a robust state constraint and tightening the terminal region, recursive feasibility and input-to-state stability are guaranteed. Simulation results demonstrate the effectiveness of both strategies proposed.

eess.SY↗

Generalized Jensen Inequalities with Application to Stability Analysis of Systems with Distributed Delays over Infinite Time-Horizons

The Jensen inequality has been recognized as a powerful tool to deal with the stability of time-delay systems. Recently, a new inequality that encompasses the Jensen inequality was proposed for the stability analysis of systems with finite delays. In this paper, we first present a generalized integral inequality and its double integral extension. It is shown how these inequalities can be applied to improve the stability result for linear continuous-time systems with gamma-distributed delays. Then, for the discrete-time counterpart we provide an extended Jensen summation inequality with infinite sequences, which leads to less conservative stability conditions for linear discrete-time systems with poisson-distributed delays. The improvements obtained thanks to the introduced generalized inequalities are demonstrated by examples.

eess.SY↗