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Coordination of multi-robot systems (MRSs) relies on efficient sensing and reliable communication among the robots. However, the sensors and communication channels of these robots are often vulnerable to cyberattacks and faults, which can disrupt their individual behavior and the overall objective of the MRS. In this work, we present a multi-robot integrity monitoring framework that utilizes inter-robot range measurements to (i) detect the presence of cyberattacks or faults affecting the MRS, (ii) identify the affected robot(s), and (iii) reconstruct the resulting localization error of these robot(s). The proposed iterative algorithm leverages sequential convex programming and alternating direction of multipliers method to enable real-time and distributed implementation. Our approach is validated using numerical simulations and demonstrated using PX4-SiTL in Gazebo on an MRS, where certain agents deviate from their desired position due to a GNSS spoofing attack. Furthermore, we demonstrate the scalability and interoperability of our algorithm through mixed-reality experiments by forming a heterogeneous MRS comprising real Crazyflie UAVs and virtual PX4-SiTL UAVs working in tandem., Comment: 8 pages, 7 figures

Quantum microwave photonics (QMWP) is an innovative approach that combines energy-time entangled biphoton sources as the optical carrier with time-correlated single-photon detection for high-speed RF signal recovery. This groundbreaking method offers unique advantages such as nonlocal RF signal encoding and robust resistance to dispersion-induced frequency fading. This paper explores the versatility of processing the quantum microwave photonic signal by utilizing coincidence window selection on the biphoton coincidence distribution. The demonstration includes finely-tunable RF phase shifting, flexible multi-tap transversal filtering (with up to 15 taps), and photonically implemented RF mixing, leveraging the nonlocal RF mapping characteristic of QMWP. These accomplishments significantly enhance the capability of microwave photonic systems in processing ultra-weak signals, opening up new possibilities for various applications.

As one of the most fundamental functionalities of microwave photonics, microwave frequency mixing plays an essential role in modern radars and wireless communication systems. However, the commonly utilized intensity modulation in the systems often leads to inadequate spurious-free dynamic range (SFDR) for many sought-after applications. Quantum microwave photonics technique offers a promising solution for improving SFDR in terms of higher-order harmonic distortion. In this paper, we demonstrate two types of quantum microwave photonic mixers based on the configuration of the intensity modulators: cascade-type and parallel-type. Leveraging the nonlocal RF signal encoding capability, both types of quantum microwave photonic mixers not only exhibit the advantage of dual-channel output but also present significant improvement in SFDR. Specifically, the parallel-type quantum microwave photonic mixer achieves a remarkable SFDR value of 113.6 dB.Hz1/2, which is 30 dB better than that of the cascade-type quantum microwave photonic mixer. When compared to the classical microwave photonic mixer, this enhancement reaches a notable 53.6 dB at the expense of 8 dB conversion loss. These results highlight the superiority of quantum microwave photonic mixers in the fields of microwave and millimeter-wave systems. Further applying multi-photon frequency entangled sources as optical carriers, the dual-channel microwave frequency conversion capability endowed by the quantum microwave photonic mixer can be extended to enhance the performance of multiple-paths microwave mixing which is essential for radar net systems.

Data-driven methods such as reinforcement and imitation learning have achieved remarkable success in robot autonomy. However, their data-centric nature still hinders them from generalizing well to ever-changing environments. Moreover, collecting large datasets for robotic tasks is often impractical and expensive. To overcome these challenges, we introduce a new self-supervised neural-symbolic (NeSy) computational framework, imperative learning (IL), for robot autonomy, leveraging the generalization abilities of symbolic reasoning. The framework of IL consists of three primary components: a neural module, a reasoning engine, and a memory system. We formulate IL as a special bilevel optimization (BLO), which enables reciprocal learning over the three modules. This overcomes the label-intensive obstacles associated with data-driven approaches and takes advantage of symbolic reasoning concerning logical reasoning, physical principles, geometric analysis, etc. We discuss several optimization techniques for IL and verify their effectiveness in five distinct robot autonomy tasks including path planning, rule induction, optimal control, visual odometry, and multi-robot routing. Through various experiments, we show that IL can significantly enhance robot autonomy capabilities and we anticipate that it will catalyze further research across diverse domains.

This paper considers a Min-Max Multiple Traveling Salesman Problem (MTSP), where the goal is to find a set of tours, one for each agent, to collectively visit all the cities while minimizing the length of the longest tour. Though MTSP has been widely studied, obtaining near-optimal solutions for large-scale problems is still challenging due to its NP-hardness. Recent efforts in data-driven methods face challenges of the need for hard-to-obtain supervision and issues with high variance in gradient estimations, leading to slow convergence and highly suboptimal solutions. We address these issues by reformulating MTSP as a bilevel optimization problem, using the concept of imperative learning (IL). This involves introducing an allocation network that decomposes the MTSP into multiple single-agent traveling salesman problems (TSPs). The longest tour from these TSP solutions is then used to self-supervise the allocation network, resulting in a new self-supervised, bilevel, end-to-end learning framework, which we refer to as imperative MTSP (iMTSP). Additionally, to tackle the high-variance gradient issues during the optimization, we introduce a control variate-based gradient estimation algorithm. Our experiments showed that these innovative designs enable our gradient estimator to converge 20% faster than the advanced reinforcement learning baseline and find up to 80% shorter tour length compared with Google OR-Tools MTSP solver, especially in large-scale problems (e.g. 1000 cities and 15 agents)., Comment: 8 pages, 3 figures, 3 tables

We show that for the Green's function on an area-minimizing boundary, it is bounded below universally by the Euclidean Green's function. We also obtain asymptotics of the Green's function near the pole and infinity. These are done by proving a $C^\alpha$ convergence of the Green's functions under the convergence of area-minimizing boundaries. For converging multiplicity 1 stationary varifolds, we have $L^p$ convergence of the Green's functions, but there are examples of stationary varifolds on which the lower bounds and asymptotics may fail. An application of the lower bound will be given in [9]., Comment: 18 pages

We are interested in finding nonlinear polynomials $P$ on $\mathbb{R}^n$ that solves the minimal surface equation. We first prove a structure theorem on such polynomials. We show that the highest degree term $P_m$ must factor as $P_0^kQ_m$ where $k$ is odd, $Q_m\ge 0$ on $\mathbb{R}^n$ and $P_0$ is irreducible, and that the level sets of $P_m$ are all area minimizing. Moreover, the unique tangent cone of $\operatorname{graph} P$ at $\infty$ is $\{P_0=0\}\times\mathbb{R}$. If $k\ge 3$, we know further that lower order terms down to some degree are divisible by $P_0$. We also show that $P$ must contain terms of both high and low degree. In particular, it cannot be homogeneous. As a corollary, we prove that there is no quadratic or cubic polynomial solution. Using a general decay lower bound of Green's functions on minimal hypersurfaces we are able to show that $\operatorname{deg} P_0+k^{-1}\operatorname{deg} Q_m\le n-2$. Finally, we prove that a polynomial minimal graph cannot have $C\times \mathbb{R}^l$ as its tangent cone at $\infty$ where $l\ge 1$ and $C$ is any isoparametric cone. We also show that the existence of a nonlinear polynomial solutions on $\mathbb{R}^8$ will imply the existence of an area minimizing but not strictly minimizing cubic cone in $\mathbb{R}^8$. These results indicate that finding an explicit polynomial solution can be hard., Comment: 21 pages

In this paper, a dynamic dual-graph fusion convolutional network is proposed to improve Alzheimer's disease (AD) diagnosis performance. The following are the paper's main contributions: (a) propose a novel dynamic GCN architecture, which is an end-to-end pipeline for diagnosis of the AD task; (b) the proposed architecture can dynamically adjust the graph structure for GCN to produce better diagnosis outcomes by learning the optimal underlying latent graph; (c) incorporate feature graph learning and dynamic graph learning, giving those useful features of subjects more weight while decreasing the weights of other noise features. Experiments indicate that our model provides flexibility and stability while achieving excellent classification results in AD diagnosis., Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible

This paper designs a simple, efficient and truthful mechanism to to elicit self-evaluations about items jointly owned by owners. A key application of this mechanism is to improve the peer review of large scientific conferences where a paper often has multiple authors and many authors have multiple papers. Our mechanism is designed to generate an entirely new source of review data truthfully elicited from paper owners, and can be used to augment the traditional approach of eliciting review data only from peer reviewers. Our approach starts by partitioning all submissions of a conference into disjoint blocks, each of which shares a common set of co-authors. We then elicit the ranking of the submissions from each author and employ isotonic regression to produce adjusted review scores that align with both the reported ranking and the raw review scores. Under certain conditions, truth-telling by all authors is a Nash equilibrium for any valid partition of the overlapping ownership sets. We prove that to ensure truthfulness for such isotonic regression based mechanisms, partitioning the authors into blocks and eliciting only ranking information independently from each block is necessary. This leave the optimization of block partition as the only room for maximizing the estimation efficiency of our mechanism, which is a computationally intractable optimization problem in general. Fortunately, we develop a nearly linear-time greedy algorithm that provably finds a performant partition with appealing robust approximation guarantees. Extensive experiments on both synthetic data and real-world conference review data demonstrate the effectiveness of this owner-assisted calibration mechanism.

For online speaker diarization, samples arrive incrementally, and the overall distribution of the samples is invisible. Moreover, in most existing clustering-based methods, the training objective of the embedding extractor is not designed specially for clustering. To improve online speaker diarization performance, we propose a unified online clustering framework, which provides an interactive manner between embedding extractors and clustering algorithms. Specifically, the framework consists of two highly coupled parts: clustering-guided recurrent training (CGRT) and truncated beam searching clustering (TBSC). The CGRT introduces the clustering algorithm into the training process of embedding extractors, which could provide not only cluster-aware information for the embedding extractor, but also crucial parameters for the clustering process afterward. And with these parameters, which contain preliminary information of the metric space, the TBSC penalizes the probability score of each cluster, in order to output more accurate clustering results in online fashion with low latency. With the above innovations, our proposed online clustering system achieves 14.48\% DER with collar 0.25 at 2.5s latency on the AISHELL-4, while the DER of the offline agglomerative hierarchical clustering is 14.57\%., Comment: Accepted by Interspeech 2022

Here we will embark on a journey starting with some ostensibly inauspicious boxes. Carefully stacking them in different ways yields amazing identities. From humble beginnings at the integer version: `how many steps does it take to get from row $i$ to row $j$?' to the first upgrade: the polynomial version, before finally reaching the final upgrade: the elliptic version. Each upgrade gives a more general theorem than before. Secretly, everything is controlled by the symmetric Macdonald polynomials. Setting $q = t$ in the Macdonald polynomial takes the elliptic version of the theorem to the polynomial version. Then, letting $t$ approach $1$ reduces the polynomial version to the integer version. All the beautiful theorems and ideas come merely from stacking boxes.