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CESG Seminar: “Autonomous Vehicles: The Good, the Bad and the Ugly”

CESG Seminar: “Autonomous Vehicles: The Good, the Bad and the Ugly”

October 5 @ 4:10 pm - 5:10 pm

Dr. Srikanth Saripalli Department of Mechanical Engineering Texas A&M University   Abstract: UxVs (Unmanned Aerial/Ground/Surface/Underwater Vehicles) are expected to expand their applications to several civilian domains such as Autonomous Driving, precision agriculture, infrastructure monitoring & disaster response. However, for these UxVs to perform these tasks with full autonomy they must satisfy multiple requirements: 1) Navigate in GPS-denied Environments 2) Sense and Avoid Obstacles 3) Able to determine interesting phenomenon. In this talk, I will describe our algorithms for mapping using thermal, visual and LIDAR sensors that enable autonomous navigation in various challenging conditions. I will then describe our path planning method based on RRT (Rapidly exploring random tree) for obstacle avoidance. A major portion of the talk will be on applications of the above algorithms to real vehicles (aerial, ground and underwater vehicles) and the lessons that we have learned, i.e. what worked and what didn’t and how we should go about building such systems. Biography: Srikanth Saripalli is an Associate Professor in the Mechanical Engineering department and the Co-Director for Center for Autonomous Vehicles and Sensor Systems (CANVASS) at Texas A&M University. His research focuses particularly on robotic systems in: air and ground vehicles and necessary foundations in perception, planning, and control for this domain. He is currently interested in developing and deploying Autonomous Shuttles on campus and in cities. In his lab (http://unmanned.tamu.edu), he is developing fleets of autonomous vehicles that are shared and electric. He has deployed these autonomous shuttles on a hotel campus and is currently deploying these shuttles on the Texas A&M campus and in downtowns. He is also interested in developing such autonomous shuttles for mobility challenged and para transit applications. On the other end, he is interested in developing Autonomous 18 wheeler trucks for long-haul freight movement. Pizza Provided

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CESG Seminar: “Transportation Systems Resilience: Capacity-Aware Control and Value of Information”

CESG Seminar: “Transportation Systems Resilience: Capacity-Aware Control and Value of Information”

October 12 @ 4:10 pm - 5:10 pm

Dr. Saurabh Amin Civil and Environmental Engineering Massachusetts Institute of Technology   Abstract: Resilience of a transportation system is its ability to operate under adverse events like incidents and storms. Availability of real-time traffic data provides new opportunities for predicting travelers’ routing behavior and implementing network control operations during adverse events. In this talk, we will discuss two problems: controlling highway corridors in response to disruptions and modeling strategic route choices of travelers with heterogeneous access to incident information. Firstly, we present an approach to designing control strategies for highway corridors facing stochastic capacity disruptions such random incidents and vehicle platoons/moving bottlenecks. We exploit the properties of traffic flow dynamics under recurrent incidents to derive verifiable conditions for stability of traffic queues, and also obtain guarantees on the system throughput. Secondly, we introduce a routing game in which travelers receive asymmetric and incomplete information about uncertain network state, and make route choices based on their private beliefs about the state and other travelers’ behavior. We study the effects of information heterogeneity on travelers’ equilibrium route choices and costs. Our analysis is useful for evaluating the value of receiving state information for travelers, which can be positive, zero, or negative in equilibrium. These results demonstrate the advantages of considering network state uncertainty in both strategic and operational aspects of system resilience. Biography: Saurabh Amin is Robert N. Noyce Career Development Associate Professor in the Department of Civil and Environmental Engineering at MIT. He is also affiliated with the Institute of Data, Systems and Society and the Operations Research Center at MIT. His research focuses on the design of network inspection and control algorithms for infrastructure systems resilience. He studies the effects of security attacks and natural events on the survivability of cyber-physical systems, and designs incentive mechanisms to reduce network risks. Dr. Amin received his Ph.D. from the University of California, Berkeley in 2011. His research is supported by NSF CPS FORCES Frontiers project, NSF CAREER award, Google Faculty Research award, DoD-Science of Security Program, and Siebel Energy Institute Grant. Pizza Provided

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CESG Distinguished Speaker: “Scheduling Punctured Systems: Joint Scheduling of Ultra Reliable Low Latency and Mobile Broadband Traffic”

CESG Distinguished Speaker: “Scheduling Punctured Systems: Joint Scheduling of Ultra Reliable Low Latency and Mobile Broadband Traffic”

October 26 @ 4:10 pm - 5:10 pm

Gustavo de Veciana Professor Department of Electrical and Computer Engineering Wireless Networking and Communications Group (WNCG) The University of Texas at Austin   Abstract: Emerging 5G systems will need to efficiently support both enhanced mobile broadband traffic (eMBB) and ultra-low- latency communications (URLLC) traffic. In these systems, time is divided into slots which are further sub-divided into minislots. From a scheduling perspective, eMBB resource allocations occur at slot boundaries, whereas to reduce latency URLLC traffic is pre-emptively overlapped at the minislot timescale, resulting in selective superposition/puncturing of eMBB allocations. This approach enables minimal URLLC latency at a potential rate loss to eMBB traffic. We study joint eMBB and URLLC schedulers for such systems, with the dual objectives of maximizing utility for eMBB traffic while immediately satisfying URLLC demands. For a linear rate loss model (loss to eMBB is linear in the amount of URLLC superposition/puncturing), we derive an optimal joint scheduler. Somewhat counter-intuitively, our results show that our dual objectives can be met by an iterative gradient scheduler for eMBB traffic that anticipates the expected loss from URLLC traffic, along with an URLLC demand scheduler that is oblivious to eMBB channel states, utility functions and allocation decisions of the eMBB scheduler. Next we consider a more general class of (convex/threshold) loss models and study optimal online joint eMBB/URLLC schedulers within the broad class of channel state dependent but minislot-homogeneous policies. A key observation is that unlike the linear rate loss model, for the convex and threshold rate loss models, optimal eMBB and URLLC scheduling decisions do not de-couple and joint optimization is necessary to satisfy the dual objectives. We validate the characteristics and benefits of our schedulers via simulation. Joint work with: Arjun Anand (UT Austin Ph.D. now at Intel) and Prof. Sanjay Shakkottai UT Austin. Biography: Gustavo de Veciana received his B.S., M.S, and Ph.D. in electrical engineering from the University of California at Berkeley in 1987, 1990, and 1993 respectively, and joined the Department of Electrical and Computer Engineering where he is currently a Cullen Trust Professor of Engineering. He served as the Director and Associate Director of the Wireless Networking and Communications Group (WNCG) at the University of Texas at Austin, from 2003-2007. His research focuses on the analysis and design of communication and computing networks; data-driven decision-making in man-machine systems, and applied probability and queuing theory. Dr. de Veciana served as editor and is currently serving as editor-at-large for the IEEE/ACM Transactions on Networking. He was the recipient of a National Science Foundation CAREER Award 1996 and a co-recipient of five best paper awards including: IEEE William McCalla Best ICCAD Paper Award for 2000, Best Paper in ACM TODAES Jan 2002-2004, Best Paper in ITC 2010, Best Paper in ACM MSWIM 2010, and Best Paper IEEE INFOCOM 2014. In 2009 he was designated IEEE Fellow for his contributions to the analysis and design of communication networks. He currently serves on the board of trustees of IMDEA Networks Madrid. Pizza Provided

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