作者：
Qiming LiuXinru CuiZhe LiuHesheng WangDepartment of Automation
Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence
AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation
Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China
Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-b...
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Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.
To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance *** the synergistic robustness and smooth navigation of mobi...
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To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance *** the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is *** address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)***,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different *** formulation guarantees rapid convergence and simultaneous chattering *** introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle *** experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.
Magnetic levitation is a non-self-stabilizing system that requires high control *** system's stability is affected by the mechanical interface between the levitation object and the loading device,with self-excited...
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Magnetic levitation is a non-self-stabilizing system that requires high control *** system's stability is affected by the mechanical interface between the levitation object and the loading device,with self-excited vibration generated in the operation *** paper proposes to consider the mechanical behavior of the contact interface in the magnetic levitation *** electromagnetic and control systems are mechanically equivalent,the coupled electric-magnetic-mechanical model is established by adopting the lumped mechanical modeling ***,the effect of the contact clearance on the mechanical behavior of the system is analyzed using the Routh-Hurwitz *** research results show that with the decrease in the contact clearance,the vibration frequency *** the vibration frequency exceeds the critical value,a continuous vibration phenomenon occurs in the system under the joint action of feedback and energy ***,the effect of interface parameters on the vibration characteristics is analyzed using the fourth-order Runge-kutta numerical *** analyses show that the interface contact leads to combination frequency and frequency multiplication components in the coupled system.
Discoloration defect detection is a significant task in the wood industry for ensuring the appearance and quality of wooden products. However, discoloration defect detection still faces some challenges due to the low ...
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Blended learning integrates online and face-to-face (FTF) teaching methods to offer students in higher education a flexible and customized educational experience. Despite its significant advantages in promoting academ...
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Plant diseases are a serious threat toworld agriculture, resulting in lower agricultural yields and financial losses. This study examines how machine learning methods could revolutionize the identification of plant di...
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This work proposes an optimized voltage stabilization approach for electric vehicles (EVs) integrated with PV systems and a hybrid energy storage system (HESS). Specifically, the combination of Adaptive Penalty Model ...
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Computer vision, which has been extensively used in intelligent monitoring, self-driving, medical assistance, sports analysis, and other fields, includes human pose estimation as a key component. Human pose estimation...
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