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Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive, unstructured environments with dense obstacles. This paper presents an innovative, decentralized Voronoi-based approach for search and coverage to reactively navigate these complexities while maintaining safety. This approach leverages the active sensing capabilities of multi-robot systems to supplement GIS (Geographic Information System), offering a more comprehensive and real-time understanding of the environment. Based on point cloud data, which is inherently non-convex and unstructured, this method efficiently generates collision-free Voronoi regions using only local sensing information through spatial decomposition and spherical mirroring techniques. Then, deadlock-aware guided map integrated with a gradient-optimized, centroid Voronoi-based coverage control policy, is constructed to improve efficiency by avoiding exhaustive searches and local sensing pitfalls. The effectiveness of our algorithm has been validated through extensive numerical simulations in high-fidelity environments, demonstrating significant improvements in both task success rate, coverage ratio, and task execution time compared with others.

This paper proposes a method for analyzing a series of potential motions in a coupling-tiltable aerial-aquatic quadrotor based on its nonlinear dynamics. Some characteristics and constraints derived by this method are specified as Singular Thrust Tilt Angles (STTAs), utilizing to generate motions including planar motions. A switch-based control scheme addresses issues of control direction uncertainty inherent to the mechanical structure by incorporating a saturated Nussbaum function. A high-fidelity simulation environment incorporating a comprehensive hydrodynamic model is built based on a Hardware-In-The-Loop (HITL) setup with Gazebo and a flight control board. The experiments validate the effectiveness of the absolute and quasi planar motions, which cannot be achieved by conventional quadrotors, and demonstrate stable performance when the pitch or roll angle is activated in the auxiliary control channel., Comment: Unmanned Aerial-Aquatic Vehicle

This paper investigates the privacy leakage of smart speakers under an encrypted traffic analysis attack, referred to as voice command fingerprinting. In this attack, an adversary can eavesdrop both outgoing and incoming encrypted voice traffic of a smart speaker, and infers which voice command a user says over encrypted traffic. We first built an automatic voice traffic collection tool and collected two large-scale datasets on two smart speakers, Amazon Echo and Google Home. Then, we implemented proof-of-concept attacks by leveraging deep learning. Our experimental results over the two datasets indicate disturbing privacy concerns. Specifically, compared to 1% accuracy with random guess, our attacks can correctly infer voice commands over encrypted traffic with 92.89\% accuracy on Amazon Echo. Despite variances that human voices may cause on outgoing traffic, our proof-of-concept attacks remain effective even only leveraging incoming traffic (i.e., the traffic from the server). This is because the AI-based voice services running on the server side response commands in the same voice and with a deterministic or predictable manner in text, which leaves distinguishable pattern over encrypted traffic. We also built a proof-of-concept defense to obfuscate encrypted traffic. Our results show that the defense can effectively mitigate attack accuracy on Amazon Echo to 32.18%.

The ozone depletion events (ODEs) in the springtime Arctic have been investigated since the 1980s. It is found that the depletion of ozone is highly associated with an auto-catalytic reaction cycle, which involves mostly the bromine-containing compounds. Moreover, bromide stored in various substrates in the Arctic such as the underlying surface covered by ice and snow can be also activated by the absorbed HOBr. Subsequently, this leads to an explosive increase of the bromine amount in the troposphere, which is called the "bromine explosion mechanism". In the present study, a reaction scheme representing the chemistry of ozone depletion and halogen release is processed with two different mechanism reduction approaches, namely, the concentration sensitivity analysis and the principal component analysis. In the concentration sensitivity analysis, the interdependence of the mixing ratios of ozone and principal bromine species on the rate of each reaction in the ODE mechanism is identified. Furthermore, the most influential reactions in different time periods of ODEs are also revealed. By removing 11 reactions with the maximum absolute values of sensitivities lower than 10 %, a reduced reaction mechanism of ODEs is derived. The onsets of each time period of ODEs in simulations using the original reaction mechanism and the reduced reaction mechanism are identical while the maximum deviation of the mixing ratio of principal bromine species between different mechanisms is found to be less than 1 %. By performing the principal component analysis on an array of the sensitivity matrices, the dependence of a particular species concentration on a combination of the reaction rates in the mechanism is revealed. Redundant reactions are indicated by principal components corresponding to small eigenvalues and insignificant elements in principal components with large eigenvalues. Through this investigation, aside from the 11 reactions identified as unimportant in the concentration sen

Relational Markov Decision Processes are a useful abstraction for complex reinforcement learning problems and stochastic planning problems. Recent work developed representation schemes and algorithms for planning in such problems using the value iteration algorithm. However, exact versions of more complex algorithms, including policy iteration, have not been developed or analyzed. The paper investigates this potential and makes several contributions. First we observe two anomalies for relational representations showing that the value of some policies is not well defined or cannot be calculated for restricted representation schemes used in the literature. On the other hand, we develop a variant of policy iteration that can get around these anomalies. The algorithm includes an aspect of policy improvement in the process of policy evaluation and thus differs from the original algorithm. We show that despite this difference the algorithm converges to the optimal policy., Comment: Appears in Proceedings of the Twenty-Third Conference on Uncertainty in Artificial Intelligence (UAI2007)

Markov decision processes capture sequential decision making under uncertainty, where an agent must choose actions so as to optimize long term reward. The paper studies efficient reasoning mechanisms for Relational Markov Decision Processes (RMDP) where world states have an internal relational structure that can be naturally described in terms of objects and relations among them. Two contributions are presented. First, the paper develops First Order Decision Diagrams (FODD), a new compact representation for functions over relational structures, together with a set of operators to combine FODDs, and novel reduction techniques to keep the representation small. Second, the paper shows how FODDs can be used to develop solutions for RMDPs, where reasoning is performed at the abstract level and the resulting optimal policy is independent of domain size (number of objects) or instantiation. In particular, a variant of the value iteration algorithm is developed by using special operations over FODDs, and the algorithm is shown to converge to the optimal policy.

The diesel engine is an energy-efficient power plant, but its exhaust emissions present a serious health and environmental problem. Drastic reductions of exhaust soot have been mandated throughout the world. Current control technologies, such as catalytic converters, alternative fuels, and advanced diesel engine combustion systems are only partially effective in controlling the soot generated from diesel engines. Exhaust filtration technology has to be deployed for effective soot control. Most of today's filter-based technologies, however, experience high operational back-pressures causing unfavorable fuel consumption. The key to the acceptability of barrier filters for diesel exhausts is the ability of the filter to be regenerated, or cleared of trapped particles, such that the exhaust back pressure remains low., Prepared in cooperation with The University of Tennessee, Knoxville TN.

This paper analyses problems concerning the conventional continuous loading structure in open mining deep borehole blasting., This paper analyses problems concerning the conventional continuous loading structure in open mining deep borehole blasting.