Scene perception and trajectory forecasting are two fundamental challenges that are crucial to a safe and reliable autonomous driving(AD)system.However,most proposed methods aim at addressing one of the two challenges...Scene perception and trajectory forecasting are two fundamental challenges that are crucial to a safe and reliable autonomous driving(AD)system.However,most proposed methods aim at addressing one of the two challenges mentioned above with a single model.To tackle this dilemma,this paper proposes spatio-temporal semantics and interaction graph aggregation for multi-agent perception and trajectory forecasting(STSIGMA),an efficient end-to-end method to jointly and accurately perceive the AD environment and forecast the trajectories of the surrounding traffic agents within a unified framework.ST-SIGMA adopts a trident encoder-decoder architecture to learn scene semantics and agent interaction information on bird’s-eye view(BEV)maps simultaneously.Specifically,an iterative aggregation network is first employed as the scene semantic encoder(SSE)to learn diverse scene information.To preserve dynamic interactions of traffic agents,ST-SIGMA further exploits a spatio-temporal graph network as the graph interaction encoder.Meanwhile,a simple yet efficient feature fusion method to fuse semantic and interaction features into a unified feature space as the input to a novel hierarchical aggregation decoder for downstream prediction tasks is designed.Extensive experiments on the nuScenes data set have demonstrated that the proposed ST-SIGMA achieves significant improvements compared to the state-of-theart(SOTA)methods in terms of scene perception and trajectory forecasting,respectively.Therefore,the proposed approach outperforms SOTA in terms of model generalisation and robustness and is therefore more feasible for deployment in realworld AD scenarios.展开更多
Reliable traffic flow prediction is crucial for mitigating urban congestion.This paper proposes Attentionbased spatiotemporal Interactive Dynamic Graph Convolutional Network(AIDGCN),a novel architecture integrating In...Reliable traffic flow prediction is crucial for mitigating urban congestion.This paper proposes Attentionbased spatiotemporal Interactive Dynamic Graph Convolutional Network(AIDGCN),a novel architecture integrating Interactive Dynamic Graph Convolution Network(IDGCN)with Temporal Multi-Head Trend-Aware Attention.Its core innovation lies in IDGCN,which uniquely splits sequences into symmetric intervals for interactive feature sharing via dynamic graphs,and a novel attention mechanism incorporating convolutional operations to capture essential local traffic trends—addressing a critical gap in standard attention for continuous data.For 15-and 60-min forecasting on METR-LA,AIDGCN achieves MAEs of 0.75%and 0.39%,and RMSEs of 1.32%and 0.14%,respectively.In the 60-min long-term forecasting of the PEMS-BAY dataset,the AIDGCN out-performs the MRA-BGCN method by 6.28%,4.93%,and 7.17%in terms of MAE,RMSE,and MAPE,respectively.Experimental results demonstrate the superiority of our pro-posed model over state-of-the-art methods.展开更多
Consensus control of multi-agent systems has attracted compelling attentions from various scientific communities for its promising applications.This paper presents a discrete-time consensus protocol for a class of mul...Consensus control of multi-agent systems has attracted compelling attentions from various scientific communities for its promising applications.This paper presents a discrete-time consensus protocol for a class of multi-agent systems with switching topologies and input constraints based on distributed predictive control scheme.The consensus protocol is not only distributed but also depends on the errors of states between agent and its neighbors.We focus mainly on dealing with the input constraints and a distributed model predictive control scheme is developed to achieve stable consensus under the condition that both velocity and acceleration constraints are included simultaneously.The acceleration constraint is regarded as the changing rate of velocity based on some reasonable assumptions so as to simplify the analysis.Theoretical analysis shows that the constrained system steered by the proposed protocol achieves consensus asymptotically if the switching interaction graphs always have a spanning tree.Numerical examples are also provided to illustrate the validity of the algorithm.展开更多
Text moderation in online communities has always been an important part of preventing cybercrime and maintaining a clear cyberspace.Most existing text moderation research approaches it from a text classification persp...Text moderation in online communities has always been an important part of preventing cybercrime and maintaining a clear cyberspace.Most existing text moderation research approaches it from a text classification perspective,focusing mainly on the text content itself with scant attention to the factors of the text publishers.Understanding user interaction in text moderation is an important part of engaging users to grow online communities.The paper presents a text moderation model for online communities,which is based on a text pre-trained model and integrates user interaction features and attribute features.Since it is difficult to label users in large online communities,we use the unsupervised Node2Vec algorithm to get user embedding from the user’s interaction graph.Then the attention mechanism is used to further train the user embedding to promote the enhancement effect of user characteristics on text moderation.The experimental results on real community datasets show that the proposed method outperforms the text moderation models that only use text features.Simultaneously,from the perspective of community owner,we conduct numerous experiments to demonstrate the impact of community user attributes and interaction characteristics on text moderation,providing valuable insights for community managers.展开更多
The distance dynamics model is excellent tool for uncovering the community structure of a complex network. However, one issue that must be addressed by this model is its very long computation time in large-scale netwo...The distance dynamics model is excellent tool for uncovering the community structure of a complex network. However, one issue that must be addressed by this model is its very long computation time in large-scale networks. To identify the community structure of a large-scale network with high speed and high quality, in this paper, we propose a fast community detection algorithm, the F-Attractor, which is based on the distance dynamics model. The main contributions of the F-Attractor are as follows. First, we propose the use of two prejudgment rules from two different perspectives： node and edge. Based on these two rules, we develop a strategy of internal edge prejudgment for predicting the internal edges of the network. Internal edge prejudgment can reduce the number of edges and their neighbors that participate in the distance dynamics model. Second, we introduce a triangle distance to further enhance the speed of the interaction process in the distance dynamics model. This triangle distance uses two known distances to measure a third distance without any extra computation. We combine the above techniques to improve the distance dynamics model and then describe the community detection process of the F-Attractor. The results of an extensive series of experiments demonstrate that the F-Attractor offers high-speed community detection and high partition quality.展开更多
Effective task assignment is essential for achieving high performance in heterogeneous distributed computing systems. This paper proposes a new technique for minimizing the parallel application time cost of task assig...Effective task assignment is essential for achieving high performance in heterogeneous distributed computing systems. This paper proposes a new technique for minimizing the parallel application time cost of task assignment based on the honeybee mating optimization （HBMO） algorithm. The HBMO approach combines the power of simulated annealing, genetic algorithms, and an effective local search heuristic to find the best possible solution to the problem within an acceptable amount of computation time. The performance of the proposed HBMO algorithm is shown by comparing it with three existing task assignment techniques on a large number of randomly generated problem instances. Experimental results indicate that the proposed HBMO algorithm outperforms the competing algorithms.展开更多
基金Basic and Advanced Research Projects of CSTC,Grant/Award Number:cstc2019jcyj-zdxmX0008Science and Technology Research Program of Chongqing Municipal Education Commission,Grant/Award Numbers:KJQN202100634,KJZDK201900605National Natural Science Foundation of China,Grant/Award Number:62006065。
文摘Scene perception and trajectory forecasting are two fundamental challenges that are crucial to a safe and reliable autonomous driving(AD)system.However,most proposed methods aim at addressing one of the two challenges mentioned above with a single model.To tackle this dilemma,this paper proposes spatio-temporal semantics and interaction graph aggregation for multi-agent perception and trajectory forecasting(STSIGMA),an efficient end-to-end method to jointly and accurately perceive the AD environment and forecast the trajectories of the surrounding traffic agents within a unified framework.ST-SIGMA adopts a trident encoder-decoder architecture to learn scene semantics and agent interaction information on bird’s-eye view(BEV)maps simultaneously.Specifically,an iterative aggregation network is first employed as the scene semantic encoder(SSE)to learn diverse scene information.To preserve dynamic interactions of traffic agents,ST-SIGMA further exploits a spatio-temporal graph network as the graph interaction encoder.Meanwhile,a simple yet efficient feature fusion method to fuse semantic and interaction features into a unified feature space as the input to a novel hierarchical aggregation decoder for downstream prediction tasks is designed.Extensive experiments on the nuScenes data set have demonstrated that the proposed ST-SIGMA achieves significant improvements compared to the state-of-theart(SOTA)methods in terms of scene perception and trajectory forecasting,respectively.Therefore,the proposed approach outperforms SOTA in terms of model generalisation and robustness and is therefore more feasible for deployment in realworld AD scenarios.
文摘Reliable traffic flow prediction is crucial for mitigating urban congestion.This paper proposes Attentionbased spatiotemporal Interactive Dynamic Graph Convolutional Network(AIDGCN),a novel architecture integrating Interactive Dynamic Graph Convolution Network(IDGCN)with Temporal Multi-Head Trend-Aware Attention.Its core innovation lies in IDGCN,which uniquely splits sequences into symmetric intervals for interactive feature sharing via dynamic graphs,and a novel attention mechanism incorporating convolutional operations to capture essential local traffic trends—addressing a critical gap in standard attention for continuous data.For 15-and 60-min forecasting on METR-LA,AIDGCN achieves MAEs of 0.75%and 0.39%,and RMSEs of 1.32%and 0.14%,respectively.In the 60-min long-term forecasting of the PEMS-BAY dataset,the AIDGCN out-performs the MRA-BGCN method by 6.28%,4.93%,and 7.17%in terms of MAE,RMSE,and MAPE,respectively.Experimental results demonstrate the superiority of our pro-posed model over state-of-the-art methods.
基金This work was financially supported by the Major Program of National Natural Science Foundation of China[grant numbers is not public]the National Natural Science Foundation of China[Grant No.61703427].
文摘Consensus control of multi-agent systems has attracted compelling attentions from various scientific communities for its promising applications.This paper presents a discrete-time consensus protocol for a class of multi-agent systems with switching topologies and input constraints based on distributed predictive control scheme.The consensus protocol is not only distributed but also depends on the errors of states between agent and its neighbors.We focus mainly on dealing with the input constraints and a distributed model predictive control scheme is developed to achieve stable consensus under the condition that both velocity and acceleration constraints are included simultaneously.The acceleration constraint is regarded as the changing rate of velocity based on some reasonable assumptions so as to simplify the analysis.Theoretical analysis shows that the constrained system steered by the proposed protocol achieves consensus asymptotically if the switching interaction graphs always have a spanning tree.Numerical examples are also provided to illustrate the validity of the algorithm.
基金supported by The Hong Kong Polytechnic University,China(No.P0045777).
文摘Text moderation in online communities has always been an important part of preventing cybercrime and maintaining a clear cyberspace.Most existing text moderation research approaches it from a text classification perspective,focusing mainly on the text content itself with scant attention to the factors of the text publishers.Understanding user interaction in text moderation is an important part of engaging users to grow online communities.The paper presents a text moderation model for online communities,which is based on a text pre-trained model and integrates user interaction features and attribute features.Since it is difficult to label users in large online communities,we use the unsupervised Node2Vec algorithm to get user embedding from the user’s interaction graph.Then the attention mechanism is used to further train the user embedding to promote the enhancement effect of user characteristics on text moderation.The experimental results on real community datasets show that the proposed method outperforms the text moderation models that only use text features.Simultaneously,from the perspective of community owner,we conduct numerous experiments to demonstrate the impact of community user attributes and interaction characteristics on text moderation,providing valuable insights for community managers.
基金supported by the National Natural Science Foundation of China(Nos.61573299,61174140,61472127,and 61272395)the Social Science Foundation of Hunan Province(No.16ZDA07)+2 种基金China Postdoctoral Science Foundation(Nos.2013M540628and 2014T70767)the Natural Science Foundation of Hunan Province(Nos.14JJ3107 and 2017JJ5064)the Excellent Youth Scholars Project of Hunan Province(No.15B087)
文摘The distance dynamics model is excellent tool for uncovering the community structure of a complex network. However, one issue that must be addressed by this model is its very long computation time in large-scale networks. To identify the community structure of a large-scale network with high speed and high quality, in this paper, we propose a fast community detection algorithm, the F-Attractor, which is based on the distance dynamics model. The main contributions of the F-Attractor are as follows. First, we propose the use of two prejudgment rules from two different perspectives： node and edge. Based on these two rules, we develop a strategy of internal edge prejudgment for predicting the internal edges of the network. Internal edge prejudgment can reduce the number of edges and their neighbors that participate in the distance dynamics model. Second, we introduce a triangle distance to further enhance the speed of the interaction process in the distance dynamics model. This triangle distance uses two known distances to measure a third distance without any extra computation. We combine the above techniques to improve the distance dynamics model and then describe the community detection process of the F-Attractor. The results of an extensive series of experiments demonstrate that the F-Attractor offers high-speed community detection and high partition quality.
文摘Effective task assignment is essential for achieving high performance in heterogeneous distributed computing systems. This paper proposes a new technique for minimizing the parallel application time cost of task assignment based on the honeybee mating optimization （HBMO） algorithm. The HBMO approach combines the power of simulated annealing, genetic algorithms, and an effective local search heuristic to find the best possible solution to the problem within an acceptable amount of computation time. The performance of the proposed HBMO algorithm is shown by comparing it with three existing task assignment techniques on a large number of randomly generated problem instances. Experimental results indicate that the proposed HBMO algorithm outperforms the competing algorithms.
