Search

An emerging computational paradigm, named federated edge learning (FEL), enables intelligent computing at the network edge with the feature of preserving data privacy for edge devices. Given their constrained resources, it becomes a great challenge to achieve high execution performance for FEL. Most of the state-of-the-arts concentrate on enhancing FEL from the perspective of system operation procedures, taking few precautions during the composition step of the FEL system. Though a few recent studies recognize the importance of FEL formation and propose server-centric device selection schemes, the impact of data sizes is largely overlooked. In this paper, we take advantage of game theory to depict the decision dilemma among edge devices regarding whether to participate in FEL or not given their heterogeneous sizes of local datasets. For realizing both the individual and global optimization, the server is employed to solve the participation dilemma, which requires accurate information collection for devices’ local datasets. Hence, we utilize mechanism design to enable truthful information solicitation. With the help of correlated equilibrium, we derive a decision making strategy for devices from the global perspective, which can achieve the long-term stability and efficacy of FEL. For scalability consideration, we optimize the computational complexity of the basic solution to the polynomial level. Lastly, extensive experiments based on both real and synthetic data are conducted to evaluate our proposed mechanisms, with experimental results demonstrating the performance advantages. [ABSTRACT FROM AUTHOR]

In this paper, the problem of decision making for autonomous vehicles changing lanes is addressed by formulating multiple games in normal form for pairs of agents. This formulation generates the optimal action for the Ego vehicle at a given state and does not consider global optimality for all agents. The payoff matrices of the games are designed based on a user-defined set of rules. The constant parameters of these payoffs are then adjusted using neural learning to generate optimal behavior among the vehicles. An algorithm integrating deep reinforcement learning and game theory, regarded as Nash Q-learning, is included in the decision-making scheme. The applicability of the proposed method in a lane-changing scenario is tested via simulation. [ABSTRACT FROM AUTHOR]

In this paper, we propose a mechanism – DEFT– to facilitate mobile Internet of Vehicles (IoV) user entities (UEs) with unit tasks to cooperate among one another and offload their tasks to nearby fog nodes (FNs)/roadside units (RSUs) in a decentralized and fair manner. While existing literature depends on offloading schemes based on centralized systems, DEFT provides near real-time computation offloading in a fog-enabled IoV using a two-level game-theoretic approach. Further, this approach allows the UEs to make their own decisions in a dynamic environment. In the first level, FNs play an Oligopoly game for determining the price of their services based on their computation capability and then broadcast the price to the UEs. Further, based on the price transmitted by the FNs, UEs play a non-cooperative Stackelberg game to map the offloading among the user and fog layer. We also ensure that no UE consumes all of the resources in an FN. Additionally, we prove our objective function's convexity and show that the proposed game always attains the Nash Equilibrium. Through extensive real-world emulations, we observe that DEFT minimizes the latency and power consumption, and improves throughput compared to the existing schemes. In the presence of 40, 80, and 120 UEs, the overhead for computation in the fog layer is minimized by $70-75$ % compared to the local computation overhead. [ABSTRACT FROM AUTHOR]

In a typical traffic scenario, autonomous vehicles are required to share the road with other road participants, e.g., human driven vehicles, pedestrians, etc. To successfully navigate the traffic, an adaptive robust level-k framework can be used by the autonomous agents to categorize the agents based on their depth of strategic thought and act accordingly. However, mismatch between the vehicle dynamics and its predictions, and improper classification of the agents can lead to undesirable behavior or collision. Robust approaches can handle the uncertainties, however, might result in a conservative behavior of the autonomous vehicle. This paper proposes an adaptive robust decision making strategy for autonomous vehicles to handle model mismatches in the prediction model while utilizing the confidence of the driver behavior to obtain less conservative actions. The effectiveness of the proposed approach is validated for a lane change maneuver in a highway driving scenario. [ABSTRACT FROM AUTHOR]

This paper presents a novel integrated approach to deal with the decision making and motion planning for lane-change maneuvers of autonomous vehicle (AV) considering social behaviors of surrounding traffic occupants. Reflected by driving styles and intentions of surrounding vehicles, the social behaviors are taken into consideration during the modelling process. Then, the Stackelberg Game theory is applied to solve the decision-making, which is formulated as a non-cooperative game problem. Besides, potential field is adopted in the motion planning model, which uses different potential functions to describe surrounding vehicles with different behaviors and road constraints. Then, Model Predictive Control (MPC) is utilized to predict the state and trajectory of the autonomous vehicle. Finally, the decision-making and motion planning is then integrated into a constrained multi-objective optimization problem. Three testing scenarios considering different social behaviors of surrounding vehicles are carried out to validate the performance of the proposed approach. Testing results show that the integrated approach is able to address different social interactions with other traffic participants, and make proper and safe decisions and planning for autonomous vehicles, demonstrating its feasibility and effectiveness. [ABSTRACT FROM AUTHOR]

Different studies have recently emphasized the importance of deploying clustering schemes in Vehicular ad hoc Network (VANET) to overcome challenging problems related to scalability, frequent topology changes, scarcity of spectrum resources, maintaining clusters stability, and rational spectrum management. However, most of these studies addressed the clustering problem using conventional performance metrics while spectrum shortage, and the combination of spectrum trading and VANET architecture have not been tackled so far. Thus, this paper presents a new fuzzy logic based clustering control scheme to support scalability, enhance the stability of the network topology, motivate spectrum owners to share spectrum and provide efficient and cost-effective use of spectrum. Unlike existing studies, our context-aware scheme is based on multi-criteria decision making where fuzzy logic is adopted to rank the multi-attribute candidate nodes for optimizing the selection of cluster heads (CH)s. Criteria related to each candidate node include: received signal strength, speed of vehicle, vehicle location, spectrum price, reachability, and stability of node. Our model performs efficiently, exhibits faster recovery in response to topology changes and enhances the network efficiency life time. [ABSTRACT FROM AUTHOR]

This paper presents a novel cooperative-driving prediction and planning framework for dynamic environments based on the methods of game theory. The proposed algorithm can be used for highly automated driving on highways or as a sophisticated prediction module for advanced driver-assistance systems with no need for intervehicle communication. The main contribution of this paper is a model-based interaction-aware motion prediction of all vehicles in a scene. In contrast to other state-of-the-art approaches, the system also models the replanning capabilities of all drivers. With that, the driving strategy is able to capture complex interactions between vehicles, thus planning maneuver sequences over longer time horizons. It also enables an accurate prediction of traffic for the next immediate time step. The prediction model is supported by an interpretation of what other drivers intend to do, how they interact with traffic, and the ongoing observation. As part of the prediction loop, the proposed planning strategy incorporates the expected reactions of all traffic participants, offering cooperative and robust driving decisions. By means of experimental results under simulated highway scenarios, the validity of the proposed concept and its real-time capability is demonstrated. [ABSTRACT FROM PUBLISHER]