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MA-TDMPC: Multi-Agent Temporal Difference for Model Predictive control 2

MA-TDMPC: Multi-Agent Temporal Difference for Model Predicti...

引用

2nd international conference on Machine Learning, Cloud Computing, and Intelligent Mining, MLCCIM 2023

作者： Wang, Rongxiao Hao, Xiaotian Feng, Yanghe Huang, Jincai Zhang, Pengfei College of Systems Engineering National University of Defense Technology Changsha China College of Intelligence and Computing Tianjin University Tianjin China 93787 Unit of People's Liberation Army Beijing China

ISBN: (纸本)9798350328530

Model-based reinforcement learning has achieved substantial progress in recent years. However, it still faces challenges when applied in multi-agent systems. These challenges in multi-agent environments include the curse of dimensionality, partial observability, which pose difficulties in environment modeling. To address these problems, a novel model-based multi-agent reinforcement learning algorithm, named multi-agent temporal difference for model predictive control (MA-TDMPC), is proposed in this paper. In MA-TDMPC, each agent maintains its own multi-agent environment model: multi-agent communication-based local environment model (MACLM). MACLM is built on the local state-action space of each agent, thus reducing modeling complexity. To overcome the limitation of partial observability in multi-agent environment, MACLM makes prediction based on multi-agent communication. In terms of model utilization, MA-TDMPC uses the MACLM for action trajectory optimization within a finite horizon. Terminal value functions learned by temporal difference are used to estimate long term returns of trajectories, which is combined with the environment model for trajectory value estimation. Our method, MA-TDMPC, outperforms model-free multi-agent reinforcement learning and prior TDMPC in terms of superior sample efficiency and asymptotic performance on MPE tasks. © 2023 IEEE.

关键词： Model predictive control

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Features of Architectural and Circuit Design Solutions When Designing Processors for Operation in FPGA

Features of Architectural and Circuit Design Solutions When ...

引用

international conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Ilya E. Tarasov Laboratory of Specialized Computing Systems RTU MIREA Moscow Russian Federation

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

The article considers architectural and circuit solutions that can be applied in processor cores synthesized in programmable logic integrated circuits (FPGA) with FPGA and APSOC architecture to solve problems of hardware accelerator control. The granular structure of the matrix of logic cells in FPGA determines the specific requirements for circuit solutions that are optimal for implementation on this hardware platform. In addition, the possibility of implementing computing accelerators based on FPGA hardware resources makes it preferable to use processor cores as control subsystems of the computing complex, which also clarifies the requirements for processor cores that could be used in FPGA-based systems. A number of design techniques typical for high-performance processor cores implemented as part of VLSI seem to be suboptimal for FPGA. The article proposes to consider simple pipelines in combination with specialized instruction sets for control processors, as well as tight integration of peripheral devices.

关键词： Pipelines Process control Very large scale integration Real-time systems Mathematical models System-on-chip Logic Field programmable gate arrays Hardware acceleration Load modeling

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A Methodology for Flattening the Command and control Problem Space 4

A Methodology for Flattening the Command and Control Problem...

引用

conference on Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications IV

作者： Chiu, Carmen Delanovic, Adis Platts, Jill Loy, Alexa Beckus, Andre US Air Force Res Lab Informat Directorate Rome NY 13441 USA

ISBN: (纸本)9781510651036;9781510651029

modeling Command and control (C2) problems is notoriously complex across operating environments, systems, and missions. We seek to systematically decompose the complexities of C2, and present the foundational problems in a form that is accessible to the larger research community. Our first objective is to "flatten" core C2 problems by formulating and developing a surrogate environment that can foster new insights and evaluation. Using this framework, the second objective is to host a public challenge to acquire a diversity of solutions from outside the DoD community.

关键词： Problem Decomposition Multi-agent systems Competitions Machine Learning Artificial Intelligence Reinforcement Learning OpenAI Gym

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An Efficient Mixed Integer Nonlinear Program Model for Optimal Positions of Pressure Reducing Valves in Water Distribution systems 15

An Efficient Mixed Integer Nonlinear Program Model for Optim...

引用

15th international conference on Electronics, Computers and Artificial Intelligence, ECAI 2023

作者： Dai, Pham Duc Thuyloi University Department of Control Engineering and Automation Hanoi Viet Nam

ISBN: (纸本)9798350321388

Water loss happens in all water distribution systems (WDSs). To deal with such the problems, pressure management strategy should be applied to lessen the water leakage flow. The optimal pressure management is formulated to minimize the total of excessive pressures in all demand supplying nodes. In mathematical formulation, it is a mixed-integer nonlinear program (MINLP). The existing MINLP model having been used until now for optimizing PRV locations is proven to be hard for MINLP algorithms based gradient methods and therefore is only suitable for small-scale WDSs with a limited number of demand patterns. In this paper, an efficient non-smooth constraints are proposed to model whether PRVs are installed on links for the optimal PRV localization problem. Since these constraints can be approximated by relaxed forms of complementarity inequalities, high quality MINLP solution can be achieved in a reasonable computation time. To demonstrate the efficacy of our new modeling approach, comparison of the performance of the newly formulated MINLP with the existing one for solving optimal PRV locating problems for a real WDS are taken. The results have shown that with our new MINLP model, better MINLP solution can be attained even for WDSs with multiple demand patterns. © 2023 IEEE.

关键词： Water distribution systems

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Investigation of Electromagnetic Field in problems of Electro-Magnetic Compatibility of Power Cable Lines 4

Investigation of Electromagnetic Field in Problems of Electr...

引用

4th international conference on control systems, Mathematical modeling, Automation and Energy Efficiency, SUMMA 2022

作者： Poluyanovich, Nikolay K. Shurykin, Alexander A. Dubyago, Marina N. Southern Federal University Institute of Radio Engineering Systems and Control Taganrog Russia

ISBN: (数字)9781665456593

ISBN: (纸本)9781665456593

The work is devoted to the study of stray fields of cable lines to ensure electromagnetic compatibility, with different connection of screens. The influence of the electromagnetic field (EMF) on the flow of currents in the shielding layers, the occurrence of leakage currents in the main insulation of power cable samples has been studied. The issues of electromagnetic compatibility of power cables are considered. A computational model of PCL has been developed in the COMSOL Multiphysics software pack-age. The conducted experimental studies of the magnetic field induction level B(I) of power cables will reveal the dependence of the change in the magnetic field on the distance to the current-carrying core, the presence of shielding grounding, and the presence of defects in the insulation of power cables. A technique has been developed for numerical simulation and calculation of EMF B(I), H(I) depending on the distance from the cable and on the magnitude of the current of the cable core. The novelty of the work is aimed at developing a non-destructive method of complex diagnostics based on the analysis of data obtained as a result of experimental studies and the developed three-dimensional physical model of a power cable line. The development of three-dimensional objects (PCL) enables the most detailed modeling of the physical processes of PCL. It was revealed that the electric field formed around the current-carrying wires contributes to the development of partial discharges (PD) in the inhomo-geneities of the insulating layers. © 2022 IEEE.

关键词： Energy efficiency

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Study on cooperative scheduling control method of bulk cargo terminal 2

Study on cooperative scheduling control method of bulk cargo...

引用

2nd international conference on Digital Society and Intelligent systems, DSInS 2022

作者： Wang, Xuelin Shi, Hankun Lu, Ning China Waterborne Transport Research Institute Beijing China

ISBN: (纸本)9781510663244

This paper aims at the problems of unclear scheduling model and low intelligence in the scheduling technology of bulk cargo terminals, analyzes the business process and characteristics of bulk cargo terminals based on the current situation and demand of the scheduling business of bulk cargo terminals, according to the actual scheduling characteristics and use rules of the berths and yards of bulk cargo terminals, and combined with the characteristics of complex coordination factors between the berths and yards of bulk cargo terminals, A multi resource collaborative scheduling model of bulk cargo terminal based on particle swarm optimization algorithm is proposed, and the algorithm is analyzed. This paper also proposes an optimization scheme for bulk cargo terminal scheduling. © 2023 SPIE.

关键词： Particle swarm optimization (PSO)

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An Algorithm for Cooperative control of Traffic Signals and Vehicle Trajectories 4

An Algorithm for Cooperative Control of Traffic Signals and ...

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4th international conference on control systems, Mathematical modeling, Automation and Energy Efficiency, SUMMA 2022

作者： Agafonov, Anton Yumaganov, Alexander Myasnikov, Vladislav Samara National Research University Samara Russia

ISBN: (数字)9781665456593

ISBN: (纸本)9781665456593

Traffic flow management at signalized intersections is one of the most important problems in transportation systems. In this study, a cooperative control method of traffic signals and vehicle trajectories at an intersection is presented. Within the framework of the proposed method, traffic light signals are controlled using an adaptive control method based on a deterministic model for predicting the movement of vehicles. A two-stage algorithm for constructing trajectories is used to control the trajectories of vehicles at intersections. The results of experimental studies of the proposed cooperative control method in the SUMO simulation environment demonstrate the effectiveness of the proposed method. © 2022 IEEE.

关键词： Trajectories

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modeling and Analysis of Mixed-Initiative control for Unmanned System 7

Modeling and Analysis of Mixed-Initiative Control for Unmann...

引用

7th international conference on Automation, control and Robotics Engineering (CACRE)

作者： Miao, Yaoyao Wang, Nan Xing, Kunsheng Wang, Jianhua Hong, Huajie Sun, Zhaomei Natl Univ Def Technol Coll Intelligence Sci & Technol Changsha Peoples R China

ISBN: (数字)9781665403870

ISBN: (纸本)9781665403870

Human-machine collaborative decision-making and control can give play to the advantages of human intelligence and artificial intelligence and flexibly cope with battlefield changes in complex, dynamic environments. A theoretical framework for human-machine mixed-initiative control is investigated to address the problems of the unclear human-machine collaborative process, imperfect theory, and lack of models to drive and manage operational activities. According to the corresponding relationship between the place, the transition, and each node of the control process, a human-machine mixed-initiative control model is established using the Petri net. For the problems of difficult command and control and inefficient resource scheduling in implementing actions, a regional reconnaissance and strike Petri net model is designed and established by combining the observe-orient-decide-act(OODA) loop *** performance indicators are calculated and analyzed in platform independent Petri net editor(PIPE). The results show that the human-machine mixedinitiative control model can organize and manage operational activities effectively.

关键词： human-machine collaborative mixed-initiative PIPE Petri net command and control OODA

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Autonomous Blimp control via H8 Robust Deep Residual Reinforcement Learning 19

Autonomous Blimp Control via H8 Robust Deep Residual Reinfor...

引用

19th IEEE international conference on Automation Science and Engineering, CASE 2023

作者： Zuo, Yang Liu, Yu Tang Ahmad, Aamir Max Planck Institute for Intelligent Systems Tübingen72076 Germany Institute of Flight Mechanics and Controls University of Stuttgart Stuttgart70569 Germany

ISBN: (纸本)9798350320695

Due to their superior energy efficiency, blimps may replace quadcopters for long-duration aerial tasks. However, designing a controller for blimps to handle complex dynamics, modeling errors, and disturbances remains an unsolved challenge. One recent work combines reinforcement learning (RL) and a PID controller to address this challenge and demonstrates its effectiveness in real-world experiments. In the current work, we build on that using an H8 robust controller to expand the stability margin and improve the RL agent's performance. Empirical analysis of different mixing methods reveals that the resulting H8. RL controller outperforms the prior PID-RL combination and can handle more complex tasks involving intensive thrust vectoring. We provide our code as open-source at https://***/robot-perception-group/robust-deep-residual-blimp. © 2023 IEEE.

关键词： Reinforcement learning

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Using Soft Computing and Computer Vision to Create and control an Integrated Autonomous Robotic Manipulator Process 26

Using Soft Computing and Computer Vision to Create and Contr...

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26th international conference on Enterprise Information systems, ICEIS 2024

作者： Rodrigues, João Antônio Toledo Anjos, Samuel Dos Silva, Mateus Coelho Câmara de Santos, Ricardo C. M Oliveira, Ricardo Augusto Rabelo Departmento de Computação - DECOM Universidade Federal de Ouro Preto - UFOP Ouro Preto Brazil Instituto Tecnológico Vale Universidade Federal de Ouro Preto - UFOP Ouro Preto Brazil

ISBN: (纸本)9789897586927

The development and control of an integrated autonomous robotic manipulation process requires a focus on the convergence of technologies such as soft computing, object detection, robotic arm engineering, and direct and inverse kinematics. For instance, the inverse kinematics issue can be targeted using soft computing instead of challenging mathematical applications. This paper explores using soft computing systems, an algorithm that produces approximate solutions to complex problems and phenomena. Thus, the use of soft computing proved valid, given the accuracy and speed of the claw. The soft computing technology is based on an evolutionary algorithm that allows us to create several points on a cartesian plane and mix them to implement inverse kinematics. Our results showed that using soft computing, which is different from the traditional way, leads to solid and functional results. The implementation involves integrating Arduino, Raspberry Pi 4.0, a PWM model PCA9685, a camera, and six servo motors to create a robotic arm. The system employs video streaming to transmit data to a local network, where the Raspberry Pi processes RGB to HSV images for object identification. The present work in this paper has experiments for the accuracy and speed of the claw to take a determinate object from the center and the side of the checkered board. Copyright © 2024 by SCITEPRESS – Science and Technology Publications, Lda.

关键词： Object detection

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