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FlyTracker: Motion Tracking and Obstacle Detection for Drones Using Event Cameras FlyTracker:使用事件相机的无人机运动跟踪和障碍物检测
Pub Date : 2023-05-17 DOI: 10.1109/INFOCOM53939.2023.10228976
Yue Wu, Jingao Xu, Danyang Li, Yadong Xie, Hao Cao, Fan Li, Zheng Yang
Location awareness in environments is one of the key parts for drones’ applications and have been explored through various visual sensors. However, standard cameras easily suffer from motion blur under high moving speeds and low-quality image under poor illumination, which brings challenges for drones to perform motion tracking. Recently, a kind of bio-inspired sensors called event cameras emerge, offering advantages like high temporal resolution, high dynamic range and low latency, which motivate us to explore their potential to perform motion tracking in limited scenarios. In this paper, we propose FlyTracker, aiming at developing visual sensing ability for drones of both individual and circumambient location-relevant contextual, by using a monocular event camera. In FlyTracker, background-subtraction-based method is proposed to distinguish moving objects from background and fusion-based photometric features are carefully designed to obtain motion information. Through multilevel fusion of events and images, which are heterogeneous visual data, FlyTracker can effectively and reliably track the 6-DoF pose of the drone as well as monitor relative positions of moving obstacles. We evaluate performance of FlyTracker in different environments and the results show that FlyTracker is more accurate than the state-of-the-art baselines.
环境中的位置感知是无人机应用的关键部分之一,已经通过各种视觉传感器进行了探索。然而,标准摄像机在高运动速度下容易出现运动模糊,在光照不足的情况下容易出现低质量图像,这给无人机的运动跟踪带来了挑战。最近,一种被称为事件相机的生物传感器出现了,它具有高时间分辨率、高动态范围和低延迟等优点,这促使我们探索它们在有限场景下执行运动跟踪的潜力。在本文中,我们提出FlyTracker,旨在开发无人机的视觉感知能力,无论是个人和周围的位置相关的上下文,通过使用单目事件相机。在FlyTracker中,提出了基于背景差的方法来区分运动目标和背景,并精心设计了基于融合的光度特征来获取运动信息。FlyTracker通过对异构视觉数据事件和图像进行多层次融合,有效可靠地跟踪无人机的6自由度姿态,并监测移动障碍物的相对位置。我们在不同的环境中评估了FlyTracker的性能,结果表明FlyTracker比最先进的基线更准确。
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引用次数: 0
Extracting Spatial Information of IoT Device Events for Smart Home Safety Monitoring 面向智能家居安全监控的物联网设备事件空间信息提取
Pub Date : 2023-05-17 DOI: 10.1109/INFOCOM53939.2023.10228993
Yinxin Wan, Xuanli Lin, Kuai Xu, Feng Wang, G. Xue
Smart home IoT devices have been widely deployed and connected to many home networks for various applications such as intelligent home automation, connected healthcare, and security surveillance. The network traffic traces generated by IoT devices have enabled recent research advances in smart home network measurement. However, due to the cloud-based communication model of smart home IoT devices and the lack of traffic data collected at the cloud end, little effort has been devoted to extracting the spatial information of IoT device events to determine where a device event is triggered. In this paper, we examine why extracting IoT device events’ spatial information is challenging by analyzing the communication model of the smart home IoT system. We propose a system named IoTDuet for determining whether a device event is triggered locally or remotely by utilizing the fact that the controlling devices such as smartphones and tablets always communicate with cloud servers with relatively stable domain name information when issuing commands from the home network. We further show the importance of extracting spatial information of IoT device events by exploring its applications in smart home safety monitoring.
智能家居物联网设备已被广泛部署并连接到许多家庭网络,用于智能家庭自动化、互联医疗和安全监控等各种应用。物联网设备产生的网络流量轨迹使智能家居网络测量的最新研究取得了进展。然而,由于智能家居物联网设备的通信模式是基于云计算的,并且缺乏在云端收集的流量数据,因此很少有人致力于提取物联网设备事件的空间信息,以确定设备事件的触发位置。本文通过分析智能家居物联网系统的通信模型,研究了提取物联网设备事件空间信息的挑战性。我们提出了一个名为IoTDuet的系统,利用智能手机和平板电脑等控制设备在从家庭网络发出命令时始终与具有相对稳定域名信息的云服务器通信的事实,确定设备事件是本地触发还是远程触发。通过探索物联网设备事件空间信息在智能家居安全监控中的应用,进一步说明了物联网设备事件空间信息提取的重要性。
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引用次数: 0
Adversarial Group Linear Bandits and Its Application to Collaborative Edge Inference 对抗性群体线性强盗及其在协同边缘推理中的应用
Pub Date : 2023-05-17 DOI: 10.1109/INFOCOM53939.2023.10228900
Yin-Hae Huang, Letian Zhang, J. Xu
Multi-armed bandits is a classical sequential decision-making under uncertainty problem. The majority of existing works study bandits problems in either the stochastic reward regime or the adversarial reward regime, but the intersection of these two regimes is much less investigated. In this paper, we study a new bandits problem, called adversarial group linear bandits (AGLB), that features reward generation as a joint outcome of both the stochastic process and the adversarial behavior. In particular, the reward that the learner receives is not only a noisy linear function of the arm that the learner selects within a group but also depends on the group-level attack decision by the adversary. Such problems are present in many real-world applications, e.g., collaborative edge inference and multi-site online ad placement. To combat the uncertainty in the coupled stochastic and adversarial rewards, we develop a new bandits algorithm, called EXPUCB, which marries the classical LinUCB and EXP3 algorithms, and prove its sublinear regret. We apply EXPUCB to the collaborative edge inference problem and evaluate its performance. Extensive simulation results verify the superior learning ability of EXPUCB under coupled stochastic and adversarial rewards.
多武装盗匪是典型的不确定问题下的顺序决策。现有的大多数研究都是在随机奖励制度或对抗奖励制度下研究强盗问题,但对这两种制度的交集的研究却很少。在本文中,我们研究了一种新的强盗问题,称为对抗群体线性强盗(AGLB),其特征是奖励生成是随机过程和对抗行为的共同结果。特别是,学习者获得的奖励不仅是学习者在群体中选择的手臂的噪声线性函数,而且还取决于对手的群体级攻击决策。这样的问题存在于许多现实世界的应用中,例如,协作边缘推理和多站点在线广告放置。为了克服随机和对抗性奖励耦合中的不确定性,我们开发了一种新的强盗算法,称为EXPUCB,它结合了经典的LinUCB和EXP3算法,并证明了它的次线性后悔。我们将EXPUCB应用于协同边缘推理问题,并对其性能进行了评价。大量的仿真结果验证了EXPUCB在随机和对抗耦合奖励下的优越学习能力。
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引用次数: 1
Charging Dynamic Sensors through Online Learning 通过在线学习为动态传感器充电
Pub Date : 2023-05-17 DOI: 10.1109/INFOCOM53939.2023.10228955
Yu Sun, Chi Lin, Wei Yang, Jiankang Ren, Lei Wang, Guowei Wu, Qiang Zhang
As a novel solution for IoT applications, wireless rechargeable sensor networks (WRSNs) have achieved widespread deployment in recent years. Existing WRSN scheduling methods have focused extensively on maximizing the network charging utility in the fixed node case. However, when sensor nodes are deployed in dynamic environments (e.g., maritime environments) where sensors move randomly over time, existing approaches are likely to incur significant performance loss or even fail to execute normally. In this work, we focus on serving dynamic nodes whose locations vary randomly and formalize the dynamic WRSN charging utility maximization problem (termed MATA problem). Through discretizing candidate charging locations and modeling the dynamic charging process, we propose a near-optimal algorithm for maximizing charging utility. Moreover, we point out the long-short-term conflict of dynamic sensors that their location distributions in the short-term usually deviate from the long-term expectations. To tackle this issue, we further design an online learning algorithm based on the combinatorial multi-armed bandit (CMAB) model. It iteratively adjusts the charging strategy and adapts well to nodes’ short-term location deviations. Extensive experiments and simulations demonstrate that the proposed scheme can effectively charge dynamic sensors and achieve a higher charging utility compared to baseline algorithms in both long-term and short-term.
作为物联网应用的一种新型解决方案,无线可充电传感器网络(WRSNs)近年来得到了广泛的应用。现有的WRSN调度方法主要关注固定节点情况下网络计费效用最大化问题。然而,当传感器节点部署在传感器随时间随机移动的动态环境中(例如海洋环境)时,现有方法可能会导致显著的性能损失,甚至无法正常执行。在这项工作中,我们着重于服务位置随机变化的动态节点,并形式化了动态WRSN充电效用最大化问题(称为MATA问题)。通过对候选充电位置进行离散化,并对充电过程进行动态建模,提出了充电效用最大化的近似最优算法。此外,我们还指出了动态传感器的长短期冲突,即它们在短期内的位置分布通常偏离长期预期。为了解决这一问题,我们进一步设计了一种基于组合多臂强盗(CMAB)模型的在线学习算法。迭代调整充电策略,能很好地适应节点的短期位置偏差。大量的实验和仿真表明,与基线算法相比,该方案在长期和短期内都能有效地对动态传感器充电,并实现更高的充电利用率。
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引用次数: 0
LARRI: Learning-based Adaptive Range Routing for Highly Dynamic Traffic in WANs 广域网中基于学习的高动态流量自适应范围路由
Pub Date : 2023-05-17 DOI: 10.1109/INFOCOM53939.2023.10228904
Minghao Ye, Junjie Zhang, Zehua Guo, H. J. Chao
Traffic Engineering (TE) has been widely used by network operators to improve network performance and provide better service quality to users. One major challenge for TE is how to generate good routing strategies adaptive to highly dynamic future traffic scenarios. Unfortunately, existing works could either experience severe performance degradation under unexpected traffic fluctuations or sacrifice performance optimality for guaranteeing the worst-case performance when traffic is relatively stable. In this paper, we propose LARRI, a learning-based TE to predict adaptive routing strategies for future unknown traffic scenarios. By learning and predicting a routing to handle an appropriate range of future possible traffic matrices, LARRI can effectively realize a trade-off between performance optimality and worst-case performance guarantee. This is done by integrating the prediction of future demand range and the imitation of optimal range routing into one step. Moreover, LARRI employs a scalable graph neural network architecture to greatly facilitate training and inference. Extensive simulation results on six real-world network topologies and traffic traces show that LARRI achieves near-optimal load balancing performance in future traffic scenarios with up to 43.3% worst-case performance improvement over state-of-the-art baselines, and also provides the lowest end-to-end delay under dynamic traffic fluctuations.
流量工程(Traffic Engineering, TE)技术被网络运营商广泛应用于提高网络性能,为用户提供更好的服务质量。TE面临的一个主要挑战是如何生成适合未来高度动态流量场景的良好路由策略。不幸的是,在意外的流量波动下,现有的工作可能会出现严重的性能下降,或者在流量相对稳定时,为了保证最坏情况的性能而牺牲性能最优性。在本文中,我们提出了LARRI,一种基于学习的TE来预测未来未知流量场景的自适应路由策略。通过学习和预测路由来处理适当范围的未来可能的流量矩阵,LARRI可以有效地实现性能最优性和最坏情况性能保证之间的权衡。这是通过将未来需求范围的预测和最优范围路由的模仿整合到一个步骤来实现的。此外,LARRI采用可扩展的图神经网络架构,大大方便了训练和推理。对六种真实网络拓扑和流量轨迹的广泛模拟结果表明,LARRI在未来的流量场景中实现了近乎最佳的负载平衡性能,与最先进的基线相比,最坏情况下的性能提高了43.3%,并且在动态流量波动下提供了最低的端到端延迟。
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引用次数: 0
Spatiotemporal Transformer for Data Inference and Long Prediction in Sparse Mobile CrowdSensing 稀疏移动人群感知中数据推断和长时间预测的时空转换
Pub Date : 2023-05-17 DOI: 10.1109/INFOCOM53939.2023.10228982
E. Wang, Weiting Liu, Wenbin Liu, Chaocan Xiang, Boai Yang, Yongjian Yang
Mobile CrowdSensing (MCS) is a data sensing paradigm that recruits users carrying mobile terminals to collect data. As its variant, Sparse MCS has been further proposed for large-scale and fine-grained sensing task with the advantage of collecting only a few data to infer unsensed data. However, in many real-world scenarios, such as early prevention of epidemic, people are interested in not only the data at the current, but also in the future or even long-term future, and the latter may be more important. Long-term prediction not only reduces sensing cost, but also identifies trends or other characteristics of the data. In this paper, we propose a spatiotemporal model based on Transformer to infer and predict the data with sparse sensed data by utilizing spatiotemporal relationships. We design a spatiotemporal feature embedding to embed the prior spatiotemporal information of sensing map into the model to guide model learning. Moreover, we also design a novel multi-head spatiotemporal attention mechanism to dynamically capture spatiotemporal relationships among data. Extensive experiments have been conducted on three types of typical urban sensing tasks, which verify the effectiveness of our proposed algorithms in improving the inference and long-term prediction accuracy with the sparse sensed data.
MCS (Mobile CrowdSensing)是一种招募携带移动终端的用户进行数据采集的数据感知范式。作为其变体,稀疏MCS被进一步提出用于大规模和细粒度的感知任务,其优点是只收集少量数据来推断未感知数据。但是,在很多现实场景中,比如疫情的早期预防,人们感兴趣的不仅仅是当下的数据,还有未来甚至长远的未来,而后者可能更重要。长期预测不仅可以降低传感成本,还可以识别数据的趋势或其他特征。本文提出了一种基于Transformer的时空模型,利用时空关系对稀疏感知数据进行推断和预测。我们设计了一个时空特征嵌入,将感知地图的先验时空信息嵌入到模型中,以指导模型学习。此外,我们还设计了一种新的多头时空注意机制来动态捕捉数据之间的时空关系。在三种典型的城市感知任务上进行了大量的实验,验证了我们提出的算法在提高稀疏感知数据推理和长期预测精度方面的有效性。
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引用次数: 0
Push the Limit of LPWANs with Concurrent Transmissions 突破lpwan并发传输的极限
Pub Date : 2023-05-17 DOI: 10.1109/INFOCOM53939.2023.10228983
Pengjin Xie, Yinghui Li, Zhenqiang Xu, Qiang Chen, Yunhao Liu, Jiliang Wang
Low Power Wide Area Networks (LPWANs) have been shown promising in connecting large-scale low-cost devices with low-power long-distance communication. However, existing LPWANs cannot work well for real deployments due to severe packet collisions. We propose OrthoRa, a new technology which significantly improves the concurrency for low-power long-distance LPWAN transmission. The key of OrthoRa is a novel design, Orthogonal Scatter Chirp Spreading Spectrum (OSCSS), which enables orthogonal packet transmissions while providing low SNR communication in LPWANs. Different nodes can send packets encoded with different orthogonal scatter chirps, and the receiver can decode collided packets from different nodes. We theoretically prove that OrthoRa provides very high concurrency for low SNR communication under different scenarios. For real networks, we address practical challenges of multiple-packet detection for collided packets, scatter chirp identification for decoding each packet and accurate packet synchronization with Carrier Frequency Offset. We implement OrthoRa on HackRF One and extensively evaluate its performance. The evaluation results show that OrthoRa improves the network throughput and concurrency by 50× compared with LoRa.
低功耗广域网(lpwan)在连接大规模低成本设备和低功耗长距离通信方面显示出了良好的前景。然而,由于严重的数据包冲突,现有的lpwan不能很好地用于实际部署。提出了一种新技术OrthoRa,该技术显著提高了低功耗长距离LPWAN传输的并发性。OrthoRa的关键是一种新颖的设计,正交散射啁啾扩频(OSCSS),它可以在lpwan中实现正交分组传输,同时提供低信噪比通信。不同节点可以发送不同正交散射啁啾编码的数据包,接收端可以对来自不同节点的碰撞数据包进行解码。我们从理论上证明了OrthoRa在不同场景下为低信噪比通信提供了非常高的并发性。对于真实网络,我们解决了碰撞数据包的多数据包检测,解码每个数据包的散射啁啾识别以及载波频率偏移的精确数据包同步的实际挑战。我们在HackRF One上实现了OrthoRa,并广泛评估了它的性能。评估结果表明,与LoRa相比,OrthoRa将网络吞吐量和并发性提高了50倍。
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引用次数: 0
AOCC-FL: Federated Learning with Aligned Overlapping via Calibrated Compensation AOCC-FL:基于校准补偿的对齐重叠联邦学习
Pub Date : 2023-05-17 DOI: 10.1109/INFOCOM53939.2023.10229011
Haozhao Wang, Wenchao Xu, Yunfeng Fan, Rui Li, Pan Zhou
Federated Learning enables collaboratively model training among a number of distributed devices with the coordination of a centralized server, where each device alternatively performs local gradient computation and communication to the server. FL suffers from significant performance degradation due to the excessive communication delay between the server and devices, especially when the network bandwidth of these devices is limited, which is common in edge environments. Existing methods overlap the gradient computation and communication to hide the communication latency to accelerate the FL training. However, the overlapping can also lead to an inevitable gap between the local model in each device and the global model in the server that seriously restricts the convergence rate of learning process. To address this problem, we propose a new overlapping method for FL, AOCC-FL, which aligns the local model with the global model via calibrated compensation such that the communication delay can be hidden without deteriorating the convergence performance. Theoretically, we prove that AOCC-FL admits the same convergence rate as the non-overlapping method. On both simulated and testbed experiments, we show that AOCC-FL achieves a comparable convergence rate relative to the non-overlapping method while outperforming the state-of-the-art overlapping methods.
通过中央服务器的协调,联邦学习支持在多个分布式设备之间进行协作式模型训练,其中每个设备交替执行本地梯度计算并与服务器通信。由于服务器和设备之间的通信延迟过大,特别是当这些设备的网络带宽有限时(这在边缘环境中很常见),FL的性能会显著下降。现有的方法将梯度计算与通信重叠,以隐藏通信延迟,从而加快FL训练速度。但是,重叠也会导致每个设备中的局部模型与服务器中的全局模型之间不可避免地存在差距,严重制约了学习过程的收敛速度。为了解决这个问题,我们提出了一种新的FL重叠方法,AOCC-FL,该方法通过校准补偿将局部模型与全局模型对齐,从而在不降低收敛性能的情况下隐藏通信延迟。从理论上证明了AOCC-FL具有与非重叠方法相同的收敛速度。在模拟和试验台实验中,我们表明AOCC-FL相对于非重叠方法实现了相当的收敛速度,同时优于最先进的重叠方法。
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引用次数: 0
Privacy-preserving Stable Crowdsensing Data Trading for Unknown Market 面向未知市场的保密稳定众感数据交易
Pub Date : 2023-05-17 DOI: 10.1109/INFOCOM53939.2023.10228966
He Sun, Mingjun Xiao, Yin Xu, Guoju Gao, S. Zhang
As a new paradigm of data trading, Crowdsensing Data Trading (CDT) has attracted widespread attention in recent years, where data collection tasks of buyers are crowdsourced to a group of mobile users as sellers through a platform as a broker for long-term data trading. The stability of the matching between buyers and sellers in the data trading market is one of the most important CDT issues. In this paper, we focus on the privacy-preserving stable CDT issue with unknown preference sequences of buyers. Our goal is to maximize the accumulative data quality for each task while protecting the data qualities of sellers and ensuring the stability of the CDT market. We model such privacy-preserving stable CDT issue with unknown preference sequences as a differentially private competing multi-player multi-armed bandit problem. We define a novel metric δ-stability and propose a privacy-preserving stable CDT mechanism based on differential privacy, stable matching theory, and competing bandit strategy, called DPS-CB, to solve this problem. Finally, we prove the security and the stability of the CDT market under the effect of privacy concerns and analyze the regret performance of DPS-CB. Also, the performance is demonstrated on a real-world dataset.
众感数据交易(Crowdsensing data trading, CDT)作为一种新的数据交易范式,近年来受到了广泛关注,它通过一个平台作为经纪人,将买家的数据收集任务众包给一群作为卖家的移动用户,进行长期的数据交易。在数据交易市场中,买卖双方匹配的稳定性是CDT最重要的问题之一。本文主要研究具有未知购买者偏好序列的稳定CDT问题。我们的目标是在保护卖家数据质量的同时,最大限度地提高每个任务的累积数据质量,确保CDT市场的稳定性。我们将这种具有未知偏好序列的保持隐私的稳定CDT问题建模为一个差异隐私竞争的多玩家多武装强盗问题。为了解决这一问题,我们定义了一种新的度量δ-稳定性,并提出了一种基于差分隐私、稳定匹配理论和竞争盗匪策略的保护隐私的稳定CDT机制,称为DPS-CB。最后,我们证明了在隐私问题影响下CDT市场的安全性和稳定性,并分析了DPS-CB的遗憾性能。此外,还在真实数据集上演示了性能。
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引用次数: 0
TanGo: A Cost Optimization Framework for Tenant Task Placement in Geo-distributed Clouds TanGo:用于地理分布式云中租户任务配置的成本优化框架
Pub Date : 2023-05-17 DOI: 10.1109/INFOCOM53939.2023.10229004
Luyao Luo, Gongming Zhao, Hong-Ze Xu, Zhuolong Yu, Liguang Xie
Cloud infrastructure has gradually displayed a tendency of geographical distribution in order to provide anywhere, anytime connectivity to tenants all over the world. The tenant task placement in geo-distributed clouds comes with three critical and coupled factors: regional diversity in electricity prices, access delay for tenants, and traffic demand among tasks. However, existing works disregard either the regional difference in electricity prices or the tenant requirements in geo-distributed clouds, resulting in increased operating costs or low user QoS. To bridge the gap, we design a cost optimization framework for tenant task placement in geo-distributed clouds, called TanGo. However, it is non-trivial to achieve an optimization framework while meeting all the tenant requirements. To this end, we first formulate the electricity cost minimization for task placement problem as a constrained mixed-integer non-linear programming problem. We then propose a near-optimal algorithm with a tight approximation ratio (1 − 1/e) using an effective submodular-based method. Results of in-depth simulations based on real-world datasets show the effectiveness of our algorithm as well as the overall 10%-30% reduction in electricity expenses compared to commonly-adopted alternatives.
云基础设施逐渐呈现出地理分布的趋势,以便为世界各地的租户提供随时随地的连接。地理分布式云中的租户任务放置有三个关键且相互关联的因素:电价的区域多样性、租户的访问延迟以及任务之间的流量需求。然而,现有的工作忽略了电价的区域差异或地理分布式云中的租户需求,导致运营成本增加或用户QoS降低。为了弥补这一差距,我们设计了一个成本优化框架,用于在地理分布式云中放置租户任务,称为TanGo。然而,在满足所有租户需求的同时实现优化框架并非易事。为此,我们首先将任务布置问题的电力成本最小化问题表述为一个约束混合整数非线性规划问题。然后,我们使用有效的基于子模块的方法提出了具有紧密近似比(1−1/e)的近最优算法。基于真实世界数据集的深度模拟结果显示了我们的算法的有效性,并且与常用的替代方案相比,总体上减少了10%-30%的电费。
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引用次数: 0
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