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Distributed Motion Coordination for Multi-agent systems with Connectivity Maintenance Using Backbone-Based Networks *

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IFAC Proceedings Volumes 2011年第1期44卷 13588-13593页

作者： Yutian Mao Lihua Dou Hao Fang Huagang Liu Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China. (Tel: 010-68913795)

Abstract This paper addresses the problem of distributed connectivity constrained motion coordination of multiple autonomous mobile agents. Different from traditional flat network structure which lacks flexibility and scalability when performing complex spatially distributed tasks, a novel distributed framework for construction of backbone-based hierarchical communication networks is proposed. Firstly, the proposed method periodically extracts a subset of agents which can form the communication backbone from the original network using only local information, thus partitions the system into backbone agents and non-backbone agents. Furthermore, the global network connectivity of the system is maintained at two levels: connectivity-preserving potential functions are used to maintain existing links in the backbone; connectivity between backbone and non-backbone agents is achieved via a leader-follower formation control scheme with backbone agents as the leaders. Finally, nontrivial numerical simulations are worked out to verify the theoretical results.

关键词： Multi-agent systems Motion coordination Connectivity maintenance Backbone-Based network

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Information stream based effectiveness evaluation of air defense networked fire control system

Information stream based effectiveness evaluation of air def...

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作者： Dong, Shike Zhang, Juan Chen, Chen School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Department of Automation Tsinghua University Beijing 100084 China

ISBN: (纸本)9789881725592

An efficient evaluation index system and evaluation model is crucial for effectiveness evaluation of the air defense networked fire control system. This paper, based on pre-research for functions and characteristics of the system, put forth a comprehensive evaluation index system which includes four layers of index hierarchy. Aiming at the characters of some indexes, several evaluation methods are adopted for giving their corresponding evaluation results. Under the condition of networking, the key effect of information stream for exerting system effectiveness is highlighted in this paper. Fuzzy comprehensive evaluation method is employed to establish effectiveness evaluation model for the system. Moreover, to identify the validity of the proposed methods and model, a case study is discussed. The evaluation case shows that the model of effectiveness evaluation is feasible, and capable to carry out objective and reasonable effectiveness evaluation for the system. © 2.11 Chinese Assoc of Automati.

关键词： Fire control systems

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Cooperative Pollution Supervising and Neutralization with Multi-actuator-sensor Network

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自动化学报 2011年第1期37卷 107-112页

作者： SUN Wei School of Automation Beijing Institute of Technology Beijing 100081 P. R. China Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing 100081 P.R. China

现在的工作认为一个 multi-actuator-sensor 网络抵销的一种情形是污染在一个围住的区域采购的有毒的气体和磁道。当在致动器的工作量上到达平衡时，一个新奇算法被建议最小化系统信息无常。方法把 centroidal Voronoi 镶嵌细工(CVT ) ... 详细信息

现在的工作认为一个 multi-actuator-sensor 网络抵销的一种情形是污染在一个围住的区域采购的有毒的气体和磁道。当在致动器的工作量上到达平衡时，一个新奇算法被建议最小化系统信息无常。方法把 centroidal Voronoi 镶嵌细工(CVT ) 与一致策略相结合。这个区域的 CVT 保险致动器的一种本地最佳的位置配置，因此，察觉到的无常能被最小化。一致算法在致动器之中利用连接信息，并且帮助他们到达普通工作量。当工作量被平均时，一致部件将被终止或压制。一致部件可以推迟 CVT 配置的实现。但是它能被看作帮助致动器从本地最佳的 CVT 配置跳的不安。作为结果，信息无常可以进一步被减少。比较与一致策略在纯 CVT 算法和方法之间被拉。模拟验证了建议途径。

关键词：传感器 CVT 运算法则仿真

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Task allocation of multiple UAVs and targets using improved genetic algorithm

Task allocation of multiple UAVs and targets using improved ...

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International Conference on intelligent control and Information Processing (ICICIP)

作者： Yong Zuo Zhihong Peng Xin Liu Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education school of Automation Beijing Institute of Technology China

In this paper, task allocation of multi-Unmanned Aerial Vehicles (UAVs) is studied, that is, multi-UAVs from different bases should be allocated to attack multiple targets. Based on the existing task allocation model, which just take the values of targets, UAVs and weapons into account, the fuel consumption is added into consideration to make the model much more practical. An improved genetic algorithm is proposed for such a multi-UAVs multi-targets task allocation. Simulation results show that the algorithm is significantly effective and the allocation result is reasonable.

关键词： Indexes Zinc Genetics Navigation Weapons

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Adaptive sliding mode control of electromechanical actuator with improved parameter estimation

Adaptive sliding mode control of electromechanical actuator ...

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作者： Li, Hao Bai, Yongqiang Su, Zhong School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China Key Laboratory of Modern Measurement and Control Technology Beijing Information Science and Technology University Ministry of Education Beijing 100101 China

ISBN: (纸本)9788995605646

An adaptive sliding mode control scheme for electromechanical actuator has been presented. The adaptive control strategy can estimate the uncertain parameters and adaptively compensate the modeled dynamical uncertainties, while the sliding mode control method overcomes the unmodelled dynamics. In the adaptive law an equivalent output injection of the sliding mode observer which contains the parameter estimation error is used, and estimates of parameters can approximate the true values without prediction-error that is typically used in compositive adaptive law. Due to the improved estimation of uncertain parameters, the sliding mode law can robustifies the design against model uncertainties with a small swithcing gain. Stability of the system with the proposed approach has been proved and it has also been shown that the system states can reach the sliding mode in finite time. Finally, the effectiveness of the proposed control scheme has been exhibited via simulation examples. © 2.11 Asian control Association.

关键词： Parameter estimation

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Real-Time Wide-Field Monitoring system Based on Image Mosaicing Technique and Its Application

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IFAC Proceedings Volumes 2011年第1期44卷 14928-14933页

作者： Li-hui Zou Jie Chen Juan Zhang Jing-hua Lu School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing 100081 China

Abstract Common surveillance system is usually limited by the scope of observation, which may increase the probability of missing or misjudging suspicious targets. A wide-field monitoring system based on efficient image mosaicing algorithm is proposed in this paper. It can monitor a wide field for both short and long distance in real time and highlight the detected moving objects simultaneously. The image mosaicing is not only aimed at obtaining the wide field of view, but also utilized in motion detection for forming a wide-field motion mask. A simulation platform is developed to verify the performance of the system. The experiment results show that it satisfies the demands of high resolution and real-time implementation. The system is of high practical value to transportation surveillance or other applications.

关键词： safety analysis image processing transportation

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3D Multi-Constraint Route Planning for UAV Low-altitude Penetration Based on Multi-Agent Genetic Algorithm

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IFAC Proceedings Volumes 2011年第1期44卷 11821-11826页

作者： Jin-Ping Wu Zhi-Hong Peng Jie Chen School of Automation Beijing Institute of Technology Beijing 100081 Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education P. R. China

Abstract Low-altitude penetration is one of the most important military applications of Unmanned Aerial Vehicles (UAVs). 3D route planning, which is a complex multi-objective optimization problem with multiple constraints, is the key technology of UAV low altitude-penetration. A 3D route planning method based on Multi-Agent Genetic Algorithm (MAGA) is proposed in this paper. Specifically, a dynamic route representation form is proposed to improve the flight route accuracy. An efficient constraint handling method is used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation. More importantly, details are presented to show how to apply MAGA to 3D route planning while some necessary improvements of MAGA are proposed to make it more efficient. Simulation and analysis illustrate the effectiveness of this method.

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Medical Image Segmentation Using Mean Shift Algorithm and General Edge Detection

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IFAC Proceedings Volumes 2011年第1期44卷 9656-9661页

作者： Jinghua Lu Jie Chen Juan Zhang Lihui Zou School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China (Tel: 86-010-68913795)

Abstract The segmentation of the medical image faces the challenges of the existence of large number of diverse structures of human anatomy and inevitable artifacts induced from the imaging procedure. In this paper we treat some structures and artifacts as general edge features, and introduce the edge information into the mean shift segmentation algorithm in both clustering and the fusion steps. Considering the medical images as two dimensional signals, the general edge can be detected and described with its local spatial frequency properties. The segmentation results show the improvement in preserving the completeness of details while sketching the overall structures.

关键词： image segmentation signal processing medical application

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Online Path Planning for UAV Using an Improved Differential Evolution Algorithm

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IFAC Proceedings Volumes 2011年第1期44卷 6349-6354页

作者： Xing Zhang Jie Chen Bin Xin Hao Fang School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Tel: 86-10-68912464-22

Abstract This paper presents a 3D online path planning algorithm for unmanned aerial vehicle (UAV) flying in partially known hostile environment. In order to provide a smooth fight route for UAV, the algorithm adopts B-Spline curve to describe UAV's path whose control points are optimized by an improved differential evolution algorithm. The planner gradually produces a smooth path for UAV from starting location to its target. Regarding path planning performance, the proposed improved diferential evolution based planner is compared with its three competitors which are based on classical differential evolution, genetic algorithm and particle swarm optimization, respectively. Numerical simulation demonstrates that the proposed UAV path planner not only produces high-quality feasible flight routes for UAV, but also obviously outperforms its competitors.

关键词： UAV online path planning differential evolution B-Spline

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Differential evolution with adaptive population size combining lifetime and extinction mechanisms

Differential evolution with adaptive population size combini...

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作者： Zhang, Chunmei Chen, Jie Xin, Bin Cai, Tao Chen, Chen School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China School of Electronic Information Engineering Taiyuan University of Science and Technology Shanxi China Department of Automation Tsinghua University Beijing China

ISBN: (纸本)9788995605646

Differential Evolution (DE) is a simple and efficient numerical optimization method. Most DE variants in the literature adopt fixed population size. This paper incorporates into DE the mechanisms of lifetime and extinction which regulate DE's population size in an adaptive manner. The population size is adjusted according to the online progress of fitness improvement. Two schemes of inserting new individuals are proposed to match different mechanisms respectively. The performance of these innovations is examined through the optimization of benchmark problems. The results show that the proposed adaptive population sizing strategy is efficient for improving the convergence and efficiency of the DE. © 2.11 Asian control Association.

关键词： Optimization

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