Evaluating dataset quality is an essential task, as the performance of artificial intelligence (AI) systems heavily depends on it. A traditional method for evaluating dataset quality involves training an AI model on the dataset and testing it on a separate test set. However, this approach requires significant computational time. In this paper, we propose a computationally efficient method for quantifying dataset quality. Specifically, our method measures how well the dataset covers the input probability distribution, ensuring that a high-quality dataset minimizes out-of-distribution inputs. We present a GPU-accelerated algorithm for approximately implementing the proposed method. We highlight three applications of our approach. First, it can evaluate the impact of data management practices, such as data cleaning and core set selection. We experimentally demonstrate that the quality assessment provided by our method strongly correlates with the traditional approach, achieving an $R^2 \geq 0.985$ in most cases while being 60-1200 times faster. Second, it can monitor the quality of continuously growing datasets with computation time proportional to the added data size. Finally, our method can estimate the performance of traditional methods for large datasets.

Stopping at a red light at intersections is one of the main contributors to travel time delays in urban traffic. Drivers often stop as close as possible to their lead vehicle, which may cause additional time delay because they should wait before accelerating to secure a safe distance. In this paper, we present an infrastructure-based optimal spacing system that guides vehicles to maintain the optimal spacing when coming to a stop. To achieve this, we formulate an optimization problem to compute the optimal spacing between vehicles such that all vehicles can enter the intersection as soon as possible when the light turns green. To solve the problem efficiently, we decompose it into sub-problems involving only two vehicles and sequentially solve them. We validate through simulations that our approach effectively reduces travel time delay.

To improve the traffic flow in the interconnected intersections, the vehicles and infrastructure such as road side units (RSUs) need to collaboratively determine vehicle scheduling while exchanging information via vehicle-to-everything (V2X) communications. However, due to a large number of vehicles and their mobility, scheduling in the interconnected intersection is a challenging problem. Moreover, since low-latency information exchange and real-time decision making process are required, it becomes more challenging to design a holistic framework incorporating traffic control and V2X communications. In this paper, an edge computing framework is proposed to solve a travel time minimization problem at the interconnected intersections. The proposed framework enables each RSU to decide intersection scheduling while the vehicles individually determine travel trajectory by controlling their dynamics. To this end, a V2X communications protocol is designed to exchange information among vehicles and RSUs. Then, the road segments around intersection are partitioned into sequence, control, and crossing zones. In the sequence zone, optimal time is scheduled for vehicles to pass the intersection with a minimum delay. In the control zone, the location and velocity of each vehicle are controlled to arrive the crossing zone at the scheduled time by using a control algorithm designed to effectively increase driving comfort and reduce fuel consumption. Thus, the proposed framework enables the vehicles to safely pass the crossing zone without collision. Simulation results show that the proposed edge computing can successfully reduce the total travel time by up to 14.3% based on optimal scheduling for the interconnected intersections.

The coordinated on-ramp merging is one of the most common but critical vehicular applications that require complex data transmission and low-latency communication in the Connected and Automated Vehicles (CAVs) environment. An effective way to address on-ramp merging is to leverage the edge computing to optimize the coordination among vehicles to achieve overall minimum vehicle travel time and energy consumption. In this study, we propose an Bi-level Optimal Edge Computing (BOEC) model for on-ramp merging in the CAVs environment to optimize both merge time and vehicle trajectory. The simulation results show that the proposed BOEC model achieves great benefits in vehicle mobility, energy saving and air pollutant emission reduction by providing an energy-efficient trajectory following the optimal merge time without compromising safety.

Duckietown is an open, inexpensive and flexible platform for autonomy education and research. The platform comprises small autonomous vehicles (“Duckiebots”) built from off-the-shelf components, and cities (“Duckietowns”) complete with roads, signage, traffic lights, obstacles, and citizens (duckies) in need of transportation. The Duckietown platform offers a wide range of functionalities at a low cost. Duckiebots sense the world with only one monocular camera and perform all processing onboard with a Raspberry Pi 2, yet are able to: follow lanes while avoiding obstacles, pedestrians (duckies) and other Duckiebots, localize within a global map, navigate a city, and coordinate with other Duckiebots to avoid collisions. Duckietown is a useful tool since educators and researchers can save money and time by not having to develop all of the necessary supporting infrastructure and capabilities. All materials are available as open source, and the hope is that others in the community will adopt the platform for education and research.

In this paper, we design a supervisor to prevent vehicle collisions at intersections. An intersection is modeled as an area containing multiple conflict points where vehicle paths cross in the future. At every time step, the supervisor determines whether there will be more than one vehicle in the vicinity of a conflict point at the same time. If there is, then an impending collision is detected, and the supervisor overrides the drivers to avoid collision. A major challenge in the design of a supervisor as opposed to an autonomous vehicle controller is to verify whether future collisions will occur based on the current drivers choices. This verification problem is particularly hard due to the large number of vehicles often involved in intersection collision, to the multitude of conflict points, and to the vehicles dynamics. In order to solve the verification problem, we translate the problem to a job-shop scheduling problem that yields equivalent answers. The job-shop scheduling problem can, in turn, be transformed into a mixed-integer linear program when the vehicle dynamics are first-order dynamics, and can thus be solved by using a commercial solver.

This paper describes the implementation of a multi-vehicle supervisor to prevent collisions at intersections. The experiments are performed on an intersection testbed consisting of three RC cars. Here, we account for uncertainty in car dynamics and state measurement, and the presence of an uncontrolled car, which is human-driven. The supervisor overrides the controlled cars only when necessary to avoid a possible future collision. From the experiments, we demonstrate that intersection collisions are averted, that is, the cars continuously and safely run on the paths without stopping 92.8% of the times.

Spatial architectures are more efficient than traditional Out-of-Order (OOO) processors for computationally intensive programs. However, spatial architectures require mapping a program, either statically or dynamically, onto the spatial fabric. Static methods can generate efficient mappings, but they cannot adapt to changing workloads and are not compatible across hardware generations. Current dynamic methods are adaptive and compatible, but do not optimize as well due to their limited use of speculation and small mapping scopes. To overcome the limitations of existing dynamic mapping methods for spatial architectures, while minimizing the inefficiencies inherent in OOO superscalar processors, this paper presents DynaSpAM (Dynamic Spatial Architecture Mapping), a framework that tightly couples a spatial fabric with an OOO pipeline. DynaSpAM coaxes the OOO processor into producing an optimized mapping with a simple modification to the processor's scheduler. The insight behind DynaSpAM is that today's powerful OOO processors do for themselves most of the work necessary to produce a highly optimized mapping for a spatial architecture, including aggressively speculating control and memory dependences, and scheduling instructions using a large window. Evaluation of DynaSpAM shows a geomean speedup of 1.42x for 11 benchmarks from the Rodinia benchmark suite with a geomean 23.9% reduction in energy consumption compared to an 8-issue OOO pipeline.