Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios

Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with a steady relative state and reliable perception is a prerequisite. This paper presents an adaptive dynamic tracking and perching scheme for autonomous quadrotors to achieve tight integration with moving platforms. For reliable perception of dynamic targets, we introduce elastic visibility-aware planning to actively avoid occlusion and target loss. Additionally, we propose a flexible terminal adjustment method that adapts the changes in flight duration and the coupled terminal states, ensuring full-state synchronization with the time-varying perching surface at various angles. A relaxation strategy is developed by optimizing the tangential relative speed to address the dynamics and safety violations brought by hard boundary conditions. Moreover, we take SE(3) motion planning into account to ensure no collision between the quadrotor and the platform until the contact moment. Furthermore, we propose an efficient spatiotemporal trajectory optimization framework considering full state dynamics for tracking and perching. The proposed method is extensively tested through benchmark comparisons and ablation studies. To facilitate the application of academic research to industry and to validate the efficiency of our scheme under strictly limited computational resources, we deploy our system on a commercial drone (DJI-MAVIC3) with a full-size sport-utility vehicle (SUV). We conduct extensive real-world experiments, where the drone successfully tracks and perches at 30~km/h (8.3~m/s) on the top of the SUV, and at 3.5~m/s with 60{\deg} inclined into the trunk of the SUV.

Crossword: A Semantic Approach to Data Compression via Masking

The traditional methods for data compression are typically based on the symbol-level statistics, with the information source modeled as a long sequence of i.i.d. random variables or a stochastic process, thus establishing the fundamental limit as entropy for lossless compression and as mutual information for lossy compression. However, the source (including text, music, and speech) in the real world is often statistically ill-defined because of its close connection to human perception, and thus the model-driven approach can be quite suboptimal. This study places careful emphasis on English text and exploits its semantic aspect to enhance the compression efficiency further. The main idea stems from the puzzle crossword, observing that the hidden words can still be precisely reconstructed so long as some key letters are provided. The proposed masking-based strategy resembles the above game. In a nutshell, the encoder evaluates the semantic importance of each word according to the semantic loss and then masks the minor ones, while the decoder aims to recover the masked words from the semantic context by means of the Transformer. Our experiments show that the proposed semantic approach can achieve much higher compression efficiency than the traditional methods such as Huffman code and UTF-8 code, while preserving the meaning in the target text to a great extent.

MixNN: A design for protecting deep learning models

In this paper, we propose a novel design, called MixNN, for protecting deep learning model structure and parameters. The layers in a deep learning model of MixNN are fully decentralized. It hides communication address, layer parameters and operations, and forward as well as backward message flows among non-adjacent layers using the ideas from mix networks. MixNN has following advantages: 1) an adversary cannot fully control all layers of a model including the structure and parameters, 2) even some layers may collude but they cannot tamper with other honest layers, 3) model privacy is preserved in the training phase. We provide detailed descriptions for deployment. In one classification experiment, we compared a neural network deployed in a virtual machine with the same one using the MixNN design on the AWS EC2. The result shows that our MixNN retains less than 0.001 difference in terms of classification accuracy, while the whole running time of MixNN is about 7.5 times slower than the one running on a single virtual machine.

Accelerating Federated Learning with a Global Biased Optimiser

Federated Learning (FL) is a recent development in the field of machine learning that collaboratively trains models without the training data leaving client devices, in order to preserve data-privacy. In realistic settings, the total training set is distributed over clients in a highly non-Independent and Identically Distributed (non-IID) fashion, which has been shown extensively to harm FL convergence speed and final model performance. We propose a novel, generalised approach for applying adaptive optimisation techniques to FL with the Federated Global Biased Optimiser (FedGBO) algorithm. FedGBO accelerates FL by applying a set of global biased optimiser values during the local training phase of FL, which helps to reduce `client-drift' from non-IID data, whilst also benefiting from adaptive momentum/learning-rate methods. We show that the FedGBO update with a generic optimiser can be viewed as a centralised update with biased gradients and optimiser update, and use this theoretical framework to prove the convergence of FedGBO using momentum-Stochastic Gradient Descent. We also perform extensive experiments using 4 realistic benchmark FL datasets and 3 popular adaptive optimisers to compare the performance of different adaptive-FL approaches, demonstrating that FedGBO has highly competitive performance considering its low communication and computation costs, and providing highly practical insights for the use of adaptive optimisation in FL.

Subspace-based compressive sensing algorithm for raypath separation in a shallow-water waveguide

Compressive sensing (CS) has been applied to estimate the direction of arrival (DOA) in underwater acoustics. However, the key problem needed to be resolved in a {multipath} propagation environment is to suppress the interferences between the raypaths. Thus, in this paper, {a subspace-based compressive sensing algorithm that formulates the statistic information of the signal subspace in a CS framework is proposed.} The experiment results show that (1) the proposed algorithm enables the separation of raypaths that arrive closely at the {receiver} array and (2) the existing algorithms fail, especially in a low signal-to-noise ratio (SNR) environment.