ST-SIGMA:Spatio-temporal semantics and interaction graph aggregation for multi-agent perception and trajectory forecasting

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.

Consensus of Multi-Agent Systems with Input Constraints Based on Distributed Predictive Control Scheme

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.

Fast Community Detection Based on Distance Dynamics

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.

Task assignment for minimizing application completion time using honeybee mating optimization

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.