Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences最新文献_第7页

Signalling and social learning in swarms of robots. 机器人群中的信号和社会学习。

IF 4.3 3区综合性期刊

Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences Pub Date : 2025-01-30 DOI: 10.1098/rsta.2024.0148

Leo Cazenille, Maxime Toquebiau, Nicolas Lobato-Dauzier, Alessia Loi, Loona Macabre, Nathanaël Aubert-Kato, Anthony J Genot, Nicolas Bredeche

{"title":"Signalling and social learning in swarms of robots.","authors":"Leo Cazenille, Maxime Toquebiau, Nicolas Lobato-Dauzier, Alessia Loi, Loona Macabre, Nathanaël Aubert-Kato, Anthony J Genot, Nicolas Bredeche","doi":"10.1098/rsta.2024.0148","DOIUrl":"10.1098/rsta.2024.0148","url":null,"abstract":"This paper investigates the role of communication in improving coordination within robot swarms, focusing on a paradigm where learning and execution occur simultaneously in a decentralized manner. We highlight the role communication can play in addressing the credit assignment problem (individual contribution to the overall performance), and how it can be influenced by it. We propose a taxonomy of existing and future works on communication, focusing on information selection and physical abstraction as principal axes for classification: from low-level lossless compression with raw signal extraction and processing to high-level lossy compression with structured communication models. The paper reviews current research from evolutionary robotics, multi-agent (deep) reinforcement learning, language models and biophysics models to outline the challenges and opportunities of communication in a collective of robots that continuously learn from one another through local message exchanges, illustrating a form of social learning.This article is part of the theme issue 'The road forward with swarm systems'.","PeriodicalId":19879,"journal":{"name":"Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences","volume":"383 2289","pages":"20240148"},"PeriodicalIF":4.3,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11789943/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143067234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Swarm systems as a platform for open-ended evolutionary dynamics. 群系统作为开放式进化动力的平台。

IF 4.3 3区综合性期刊

Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences Pub Date : 2025-01-30 DOI: 10.1098/rsta.2024.0143

Hiroki Sayama

{"title":"Swarm systems as a platform for open-ended evolutionary dynamics.","authors":"Hiroki Sayama","doi":"10.1098/rsta.2024.0143","DOIUrl":"https://doi.org/10.1098/rsta.2024.0143","url":null,"abstract":"Artificial swarm systems have been extensively studied and used in computer science, robotics, engineering and other technological fields, primarily as a platform for implementing robust distributed systems to achieve pre-defined objectives. However, such swarm systems, especially heterogeneous ones, can also be utilized as an ideal platform for creating open-ended evolutionary dynamics that do not converge toward pre-defined goals but keep exploring diverse possibilities and generating novel outputs indefinitely. In this article, we review Swarm Chemistry and its variants as concrete sample cases to illustrate beneficial characteristics of heterogeneous swarm systems, including the cardinality leap of design spaces, multi-scale structures/behaviours and their diversity, and robust self-organization, self-repair and ecological interactions of emergent patterns, all of which serve as the driving forces for open-ended evolutionary processes. Applications to science, engineering and art/entertainment as well as the directions of further research are also discussed.This article is part of the theme issue 'The road forward with swarm systems'.","PeriodicalId":19879,"journal":{"name":"Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences","volume":"383 2289","pages":"20240143"},"PeriodicalIF":4.3,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143067236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Swarm shepherding using bearing-only measurements. 群牧使用方位测量。

IF 4.3 3区综合性期刊

Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences Pub Date : 2025-01-30 DOI: 10.1098/rsta.2024.0145

Aiyi Li, Masaki Ogura, Naoki Wakamiya

{"title":"Swarm shepherding using bearing-only measurements.","authors":"Aiyi Li, Masaki Ogura, Naoki Wakamiya","doi":"10.1098/rsta.2024.0145","DOIUrl":"10.1098/rsta.2024.0145","url":null,"abstract":"Drawing inspiration from natural herding behaviours, shepherding provides a method for swarm guidance that utilizes steering agents and can be applied in biological and robotics systems at various scales. However, while most shepherding research has relied on the precise sensing capabilities of steering agents, these assumptions do not necessarily hold in real-world tasks. To fill in the gap between practice and literature, in this study, we demonstrate that swarm shepherding can be achieved via bearing-only measurements, and explore the minimum amount of information required. We initially formulate our algorithm for a single agent and subsequently expand its application to accommodate multiple agents, incorporating strategies tailored for herding multiple swarms. Numerical simulations show the effectiveness of the algorithm under various initial placements and configurations. The minimum amount of information required by the proposed algorithm for successful shepherding, i.e. a moderate angular accuracy for the steering agents and limited communication between them, is also determined. Our proposed bearing-only algorithm offers crucial insights into swarm dynamics, which may have applications across a variety of domains, such as agriculture and search and rescue.This article is part of the theme issue 'The road forward with swarm systems'.","PeriodicalId":19879,"journal":{"name":"Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences","volume":"383 2289","pages":"rsta20240145"},"PeriodicalIF":4.3,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11779540/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143067235","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Rolling horizon coverage control with collaborative autonomous agents. 协同自主代理的滚动地平线覆盖控制。

IF 4.3 3区综合性期刊

Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences Pub Date : 2025-01-30 DOI: 10.1098/rsta.2024.0146

Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides, Christos G Panayiotou, Marios M Polycarpou

{"title":"Rolling horizon coverage control with collaborative autonomous agents.","authors":"Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides, Christos G Panayiotou, Marios M Polycarpou","doi":"10.1098/rsta.2024.0146","DOIUrl":"https://doi.org/10.1098/rsta.2024.0146","url":null,"abstract":"This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area of a three-dimensional object of interest. The collaborative coverage problem, formulated as a distributed model predictive control problem, optimizes the agents' motion and camera control inputs, while considering inter-agent constraints aiming at reducing work redundancy. The proposed coverage controller integrates constraints based on light-path propagation techniques to predict the parts of the object's surface that are visible with regard to the agents' future anticipated states. This work also demonstrates how complex, non-linear visibility assessment constraints can be converted into logical expressions that are embedded as binary constraints into a mixed-integer optimization framework. The proposed approach has been demonstrated through simulations and practical applications for inspecting buildings with unmanned aerial vehicles (UAVs).This article is part of the theme issue 'The road forward with swarm systems'.","PeriodicalId":19879,"journal":{"name":"Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences","volume":"383 2289","pages":"20240146"},"PeriodicalIF":4.3,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143067233","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The road forward with swarm systems. 群系统的未来之路。

IF 4.3 3区综合性期刊

Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences Pub Date : 2025-01-30 DOI: 10.1098/rsta.2024.0135

Hussein Abbass, Sanaz Mostaghim

引用次数: 0

Automated polynomial formal verification using generalized binary decision diagram patterns. 使用广义二元决策图模式的自动多项式形式验证。

IF 4.3 3区综合性期刊

Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences Pub Date : 2025-01-01 Epub Date: 2025-01-16 DOI: 10.1098/rsta.2023.0390

Martha Schnieber, Rolf Drechsler

{"title":"Automated polynomial formal verification using generalized binary decision diagram patterns.","authors":"Martha Schnieber, Rolf Drechsler","doi":"10.1098/rsta.2023.0390","DOIUrl":"https://doi.org/10.1098/rsta.2023.0390","url":null,"abstract":"With the ongoing digitization, digital circuits have become increasingly present in everyday life. However, as circuits can be faulty, their verification poses a challenging but essential challenge. In contrast to formal verification techniques, simulation techniques fail to fully guarantee the correctness of a circuit. However, due to the exponential complexity of the verification problem, formal verification can fail due to time or space constraints. To overcome this challenge, recently Polynomial Formal Verification (PFV) has been introduced. Here, it has been shown that several circuits and circuit classes can be formally verified in polynomial time and space. In general, these proofs have to be conducted manually, requiring a lot of time. However, in recent research, a method for automated PFV has been proposed, where a proof engine automatically generates human-readable proofs that show the polynomial size of a Binary Decision Diagram (BDD) for a given function. The engine analyses the BDD and finds a pattern, which is then proven by induction. In this article, we formalize the previously presented BDD patterns and propose algorithms for the pattern detection, establishing new possibilities for the automated proof generation for more complex functions. Furthermore, we show an exemplary proof that can be generated using the presented methods.This article is part of the theme issue 'Emerging technologies for future secure computing platforms'.","PeriodicalId":19879,"journal":{"name":"Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences","volume":"383 2288","pages":"20230390"},"PeriodicalIF":4.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143009560","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Memristive ternary Łukasiewicz logic based on reading-based ratioed resistive states (3R). 忆阻三元Łukasiewicz逻辑基于基于读取的比例电阻状态（3R）。

IF 4.3 3区综合性期刊

Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences Pub Date : 2025-01-01 Epub Date: 2025-01-16 DOI: 10.1098/rsta.2023.0397

Feng Liu, Leon Brackmann, Xianyue Zhao, Nan Du, Rainer Waser, Stephan Menzel

{"title":"Memristive ternary Łukasiewicz logic based on reading-based ratioed resistive states (3R).","authors":"Feng Liu, Leon Brackmann, Xianyue Zhao, Nan Du, Rainer Waser, Stephan Menzel","doi":"10.1098/rsta.2023.0397","DOIUrl":"https://doi.org/10.1098/rsta.2023.0397","url":null,"abstract":"The thirst for more efficient computational paradigms has reignited interest in computation in memory (CIM), a burgeoning topic that pivots on the strengths of more versatile logic systems. Surging ahead in this innovative milieu, multi-valued logic systems have been identified as possessing the potential to amplify storage density and computation efficacy. Notably, ternary logic has attracted widespread research owing to its relatively lower computational and storage complexity, offering a promising alternative to the traditional binary logic computation. This study provides insight into the feasibility of ternary logic in the CIM domain using resistive random-access memory (ReRAM) devices. Its multi-level programming capability making it an ideal conduit for the integration of ternary logic. We focus on ternary Łukasiewicz logic because its computational characteristics are highly suitable for mapping logic values with input and output signals. This approach is characterized by voltage-reading-based output for ease of subsequent utilization and computation and validated in 1T1R crossbar arrays in an integrated ReRAM chip (Memory Advanced Demonstrator 200 mm). In addition, the effect of variability of memristive devices on logical computation and the potential for parallel operation are also investigated.This article is part of the theme issue 'Emerging technologies for future secure computing platforms'.","PeriodicalId":19879,"journal":{"name":"Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences","volume":"383 2288","pages":"20230397"},"PeriodicalIF":4.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11736464/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143009592","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Secure artificial intelligence at the edge. 确保边缘的人工智能安全。

IF 4.3 3区综合性期刊

Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences Pub Date : 2025-01-01 Epub Date: 2025-01-16 DOI: 10.1098/rsta.2023.0398

Nader Sehatbakhsh, Sudhakar Pamarti, Vwani Roychowdhary, Subramanian Iyer

{"title":"Secure artificial intelligence at the edge.","authors":"Nader Sehatbakhsh, Sudhakar Pamarti, Vwani Roychowdhary, Subramanian Iyer","doi":"10.1098/rsta.2023.0398","DOIUrl":"https://doi.org/10.1098/rsta.2023.0398","url":null,"abstract":"Sensors for the perception of multimodal stimuli-ranging from the five senses humans possess and beyond-have reached an unprecedented level of sophistication and miniaturization, raising the prospect of making man-made large-scale complex systems that can rival nature a reality. Artificial intelligence (AI) at the edge aims to integrate such sensors with real-time cognitive abilities enabled by recent advances in AI. Such AI progress has only been achieved by using massive computing power which, however, would not be available in most distributed systems of interest. Nature has solved this problem by integrating computing, memory and sensing functionalities in the same hardware so that each part can learn its environment in real time and take local actions that lead to stable global functionalities. While this is a challenging task by itself, it would raise a new set of security challenges when implemented. As in nature, malicious agents can attack and commandeer the system to perform their own tasks. This article aims to define the types of systemic attacks that would emerge, and introduces a multiscale framework for combatting them. A primary thesis is that edge AI systems have to deal with unknown attack strategies that can only be countered in real time using low-touch adaptive learning systems.This article is part of the theme issue 'Emerging technologies for future secure computing platforms'.","PeriodicalId":19879,"journal":{"name":"Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences","volume":"383 2288","pages":"20230398"},"PeriodicalIF":4.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143009602","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Exploiting the lock: leveraging MiG-V's logic locking for secret-data extraction. 利用锁：利用MiG-V的逻辑锁来提取秘密数据。

IF 4.3 3区综合性期刊

Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences Pub Date : 2025-01-01 Epub Date: 2025-01-16 DOI: 10.1098/rsta.2023.0388

Lennart M Reimann, Yadu Madhukumar Variyar, Lennet Huelser, Chiara Ghinami, Dominik Germek, Rainer Leupers

{"title":"Exploiting the lock: leveraging MiG-V's logic locking for secret-data extraction.","authors":"Lennart M Reimann, Yadu Madhukumar Variyar, Lennet Huelser, Chiara Ghinami, Dominik Germek, Rainer Leupers","doi":"10.1098/rsta.2023.0388","DOIUrl":"https://doi.org/10.1098/rsta.2023.0388","url":null,"abstract":"The MiG-V was designed for high-security applications and is the first commercially available logic-locked RISC-V processor on the market. In this context, logic locking was used to protect the RISC-V processor design during the untrusted manufacturing process by using key-driven logic gates to obfuscate the original design. Although this method defends against malicious modifications, such as hardware Trojans, logic locking's impact on the RISC-V processor's data confidentiality during runtime has not been thoroughly examined. In this study, we evaluate the impact of logic locking on data confidentiality. By altering the logic locking key of the MiG-V while running SSL cryptographic algorithms, we identify data leakages resulting from the exploitation of the logic-locking hardware. We show that changing a single bit of the logic locking key can expose 100% of the cryptographic encryption key. This research reveals a critical security flaw in logic locking, highlighting the need for comprehensive security assessments beyond logic-locking key-recovery attacks.This article is part of the theme issue 'Emerging technologies for future secure computing platforms'.","PeriodicalId":19879,"journal":{"name":"Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences","volume":"383 2288","pages":"20230388"},"PeriodicalIF":4.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143009569","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Neural in-memory checksums: an error detection and correction technique for safe in-memory inference. 神经内存校验和：一种用于安全内存推理的错误检测和纠正技术。

IF 4.3 3区综合性期刊

Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences Pub Date : 2025-01-01 Epub Date: 2025-01-16 DOI: 10.1098/rsta.2023.0399

Luca Parrini, Taha Soliman, Benjamin Hettwer, Cecilia De La Parra, Jan Micha Borrmann, Simranjeet Singh, Ankit Bende, Vikas Rana, Farhad Merchant, Norbert Wehn

{"title":"Neural in-memory checksums: an error detection and correction technique for safe in-memory inference.","authors":"Luca Parrini, Taha Soliman, Benjamin Hettwer, Cecilia De La Parra, Jan Micha Borrmann, Simranjeet Singh, Ankit Bende, Vikas Rana, Farhad Merchant, Norbert Wehn","doi":"10.1098/rsta.2023.0399","DOIUrl":"https://doi.org/10.1098/rsta.2023.0399","url":null,"abstract":"The advent of in-memory computing has introduced a new paradigm of computation, which offers significant improvements in terms of latency and power consumption for emerging embedded AI accelerators. Nevertheless, the effect of the hardware variations and non-idealities of the emerging memory technologies may significantly compromise the accuracy of inferred neural networks and result in malfunctions in safety-critical applications. This article addresses the issue from three different perspectives. First, we describe the technology-related sources of these variations. Then, we propose an architectural-level mitigation strategy that involves the coordinated action of two checksum codes designed to detect and correct errors at runtime. Finally, we optimize the area and latency overhead of the proposed solution by using two accuracy-aware hardware-software co-design techniques. The results demonstrate higher efficiency in mitigating the accuracy degradation of multiple AI algorithms in the context of different technologies compared with state-of-the-art solutions and traditional techniques such as triple modular redundancy. Several configurations of our implementation recover more than 95% of the original accuracy with less than 40% of the area and less than 30% of latency overhead.This article is part of the themed issue 'Emerging technologies for future secure computing platforms'.","PeriodicalId":19879,"journal":{"name":"Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences","volume":"383 2288","pages":"20230399"},"PeriodicalIF":4.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143009595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0