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Coalition formation problem: a capability-centric analysis and general model

Science China(Information Sciences) 2024年第11期67卷 180-193页

作者： Jie CHEN Miao GUO Bin XIN Qing WANG Shengyu LU Yipeng WANG Yulong DING School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Department of Control Science and Engineering Tongji University

Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collaboration and human-robot collaboration. However, the analysis on CF problems remains *** provide a valuable study reference for researchers interested in CF, this paper proposed a capabilitycentric analysis of the CF problem. The key problem elements of CF are firstly extracted by referencing the concepts of the 5W1H method. That is, objects(who) form coalitions(what) to accomplish missions(why) by aggregating capabilities(how) in a specific environment(where-when). Then, a multi-view analysis of these elements and their correlation in terms of capabilities is proposed through various logic diagrams, structure charts, etc. Finally, to facilitate a deeper understanding of capability-centric CF, a general mathematical model is constructed, demonstrating how the different concepts discussed in this analysis contribute to the overall model.

关键词： coalition formation capability aggregation capability metric mission requirement environmental effect

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A Novel Integrated Energy Management Strategy of Energy Storage System for a Pure Electric-Driven Mining Hydraulic Excavator

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Chinese Journal of Mechanical engineering 2025年第2期38卷 459-475页

作者： Tao Qin Yunhua Li Long Quang Yu Yao Liman Yang School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Beijing Tianma Intelligent Control Technology Co. Ltd.Beijing 101399China Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of TechnologyTai Yuan 030024China

Using electric motors instead of diesel engines as the driving system for mining excavators can reduce the energy consumption and operating ***,pure electric-driven mining excavators are prone to unexpected power outages in mines because of drastic changes in load power,leading to significant fluctuations in the power demand of the grid,which in turn affects *** solve the above problem,a pure electric-driven mining hydraulic excavator based on electric-motor-driven swing platform and hydraulic pumps was used as the research ***,supercapacitors and DC/DC converter,as the energy storage system(ESS)adjust the output power of the grid and recover the braking kinetic energy of the swing ***,a novel integrated energy management strategy for a DC bus voltage predictive controller based on the power feedforward of fuzzy rules is proposed to run mining excavators efficiently and ***,the working modes of the ESS are determined by the DC bus voltage and state of charge(SOC)of the ***,the output power of the supercapacitor and the DC bus voltage were controlled by adjusting the charging and discharging currents of the DC/DC converter using a predictive controller and fuzzy *** addition,a digital prototype of the excavator was verified using an original machine *** performance of the different strategies and driven systems were analyzed using digital *** results showed that,compared with traditional excavators with diesel engines,the operational cost of the developed excavators was reduced by 54.02%.Compared to pure electric-driven excavators without an ESS,the peak power of the grid for the developed excavators was reduced by 10%.This study designed an integrated energy management strategy for a pure electric mining excavator that can regulate the power output of the grid and maintain the stability of the bus voltage and SOC of the ESS.

关键词： Energy Management Strategy Pure Electric Driven Mining Excavator Fuzzy Rules diesel engines mining excavators Supercapacitors electric motors Energy Storage System

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Event-triggered consensus control of heterogeneous multi-agent systems: model-and data-based approaches

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Science China(Information Sciences) 2023年第9期66卷 151-167页

作者： Xin WANG Jian SUN Fang DENG Gang WANG Jie CHEN School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This article addresses the model-and data-based event-triggered consensus of heterogeneous leader/follower multi-agent systems(MASs). A dynamic periodic transmission protocol is developed to alleviate the communication and computational burden, where the followers can interact locally with neighbors to approach the dynamics of the leader. Capitalizing on a discrete-time looped-functional, a model-based consensus condition for the closed-loop MASs is derived as linear matrix inequalities(LMIs), along with a design method for obtaining distributed event-triggered controllers and the associated triggering *** collecting noise-corrupted state-input measurements in offline open-loop experiments, a data-based leader/follower MAS representation is derived and employed to address the data-driven consensus control problem without explicit MAS models. This result is subsequently generalized to guarantee an H∞-consensus control performance. Finally, a simulation example is given to corroborate the efficiency of the proposed distributed triggering scheme and the data-driven consensus controller.

关键词： data-driven control multi-agent system consensus looped-functional LMI

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An adaptive large neighborhood search for the multi-point dynamic aggregation problem

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control Theory and Technology 2024年第3期22卷 360-378页

作者： Shengyu Lu Bin Xin Jie Chen Miao Guo School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

The multi-point dynamic aggregation(MPDA)problem is a challenging real-world *** the MPDA problem,the demands of tasks keep changing with their inherent incremental rates,while a heterogeneous robot fleet is required to travel between these tasks to change the time-varying state of each *** robots are allowed to collaborate on the same task or work separately until all tasks are *** is challenging to generate an effective task execution plan due to the tight coupling between robots abilities and tasks'incremental rates,and the complexity of robot *** effectiveness consideration,we use the variable length encoding to avoid redundancy in the solution *** creatively use the adaptive large neighborhood search(ALNS)framework to solve the MPDA *** the proposed algorithm,high-quality initial solutions are generated through multiple problem-specific solution construction *** heuristics are also used to fix the broken solution in the novel integrated decoding-construction repair process of the ALNS *** results of statistical analysis by the Wilcoxon rank-sum test demonstrate that the proposed ALNS can obtain better task execution plans than some state-of-the-art algorithms in most MPDA instances.

关键词： Adaptive large neighborhood search(ALNS) Multi-point dynamic aggregation(MPDA) Heuristic solution construction Multi-robot collaboration

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Urban Traffic control Meets Decision Recommendation System:A Survey and Perspective

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IEEE/CAA Journal of Automatica Sinica 2024年第10期11卷 2043-2058页

作者： Qingyuan Ji Xiaoyue Wen Junchen Jin Yongdong Zhu Yisheng Lv Zhejiang Lab Hangzhou 311121China College of Engineering and Architecture Zhejiang UniversityHangzhou 310013China College of Electrical Engineering Zhejiang UniversityHangzhou 310013China the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE

Urban traffic control is a multifaceted and demanding task that necessitates extensive decision-making to ensure the safety and efficiency of urban transportation *** approaches require traffic signal professionals to manually intervene on traffic control devices at the intersection level,utilizing their knowledge and ***,this process is cumbersome,labor-intensive,and cannot be applied on a large network *** studies have begun to explore the applicability of recommendation system for urban traffic control,which offer increased control efficiency and *** a decision recommendation system is complex,with various interdependent components,but a systematic literature review has not yet been *** this work,we present an up-to-date survey that elucidates all the detailed components of a recommendation system for urban traffic control,demonstrates the utility and efficacy of such a system in the real world using data and knowledgedriven approaches,and discusses the current challenges and potential future directions of this field.

关键词： Recommendation system traffic control traffic perception traffic prediction

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Distributed Time-Varying Optimization-Based Protocols for Affine Formation Maneuver

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2025年第8期72卷 8503-8511页

作者： Su, Piaoyi Shi, Zhexin Yu, Jianglong Dong, Xiwang Ren, Zhang Wang, Danwei Beihang Univ Sch Automat Sci & Elect Engn Sci & Technol Aircraft Control Lab Beijing 100191 Peoples R China Beihang Univ Inst Unmanned Syst Sch Automat Sci & Elect Engn Sci & Technol Aircraft Control Lab Beijing 100191 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore 63979 Singapore Institute of Unmanned System School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing P. R. China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

In this work, an affine formation maneuver control problem is studied for second-order multiagent system. The agents' task is to achieve affine formation maneuver through local interaction while minimizing the global time-varying cost functions. First, a distributed time-varying optimization problem with affine formation constraints is presented, where the solution trajectory is the affine transformation of the desired nominal configuration. Second, distributed time-varying optimization-based protocols are proposed. Using the proposed protocols, the agents' states asymptotically converge to the optimal solution, and thus the desired affine formation and the collective maneuvers issues can be solved. Third, the asymptotic convergence is proved using Lyapunov arguments. Finally, the effectiveness of the protocols is demonstrated by numerical simulation and experimental examples.

关键词： Stress Protocols Cost function Multi-agent systems Laplace equations Convex functions Convergence Trajectory Target tracking Formation control Affine formation maneuver distributed convex optimization multimobile robots platform time-varying cost functions

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Decentralized Game-based Auction Algorithm for Scheduling Robotic Chargers to Service EVs with Uncertain Demands

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-14页

作者： Fang, Qiuyang Zhang, Jianlei Wang, Chen Xie, Guangming Zhang, Chunyan Department of Automation College of Computer and Control Engineering Nankai University Tianjin China National Engineering Research Center of Software Engineering Peking University Beijing China State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this study, we introduce a novel auction-based algorithm modeled as a decentralized coalition formation game, designed for the complex requirements of large-scale multi-robot task allocation under uncertain demand. This context is particularly illustrative in scenarios where robots are tasked to charge electric vehicles. The algorithm begins by partitioning a composite task sequence into distinct subsets based on spatial similarity principles. Subsequently, we employ a coalition formation game paradigm to coordinate the assembly of robots into cooperative coalitions focused on these distinct subsets. To mitigate the impact of unpredictable task demands on allocations, our approach utilizes the conditional value-at-risk to assess the risk associated with task execution, along with computing the potential revenue of the coalition with an emphasis on risk-related outcomes. Additionally, integrating consensus auctions into the coalition formation framework allows our approach to accommodate assignments for individual robot-task pairings, thus preserving the stability of individual robotic decision autonomy within the coalition structure and assignment distribution. Simulative analyses on a prototypical parking facility layout confirm that our algorithm achieves Nash equilibrium within the coalition structure in polynomial time and demonstrates significant scalability. Compared to competing algorithms, our proposal exhibits superior performance in resilience, task execution efficiency, and reduced overall task completion times. The results demonstrate that our approach is an effective strategy for solving the scheduling challenges encountered by multi-robot systems operating in complex environments. IEEE

关键词： Polynomial approximation

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Data-driven consensus control of fully distributed event-triggered multi-agent systems

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Science China(Information Sciences) 2023年第5期66卷 147-161页

作者： Yifei LI Xin WANG Jian SUN Gang WANG Jie CHEN School of Automation Beijing Institute of Technology The State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This study investigates the consensus control issue in discrete-time linear multi-agent systems(MASs) using data-driven control under undirected communication networks. To alleviate the communication burden, an adaptive event-triggered control strategy involving only local information is proposed and a model-based stability condition is derived that guarantees the asymptotic consensus of MASs. Furthermore,a data-based consensus condition for unknown MASs is established by combining a data-based system representation with the model-based stability condition, using only pre-collected noisy input-state data instead of the accurate system information a priori. Specifically, both model-based and data-driven event-triggered controllers can be utilized without requiring any global information. The validity and correctness of the controllers and associated theoretical results are demonstrated via numerical simulations.

关键词： distributed control event-triggered control data-driven control discrete-time MASs

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Proximity Estimation with Position Adjustment for Autonomous Industrial Inspection

Proximity Estimation with Position Adjustment for Autonomous...

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2024 International Conference on Artificial Intelligence of Things and Systems, AIoTSys 2024

作者： Zhou, Ziyi Huang, Ping Zheng, Song Xu, Zhezhuang Zhuang, Zixiong College of Electrical Engineering and Automation Fuzhou Univ. and Key Lab. of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China

ISBN: (纸本)9798331507886

Due to the similarity in appearance and dense deployment of devices in industrial environments, relying solely on machine vision makes it challenging for inspection robots to accurately identify similar devices. Although wireless signals from industrial internet of things (IoT) can serve as identification features, signal fluctuations impact the accuracy and efficiency of recognition. To address this issue, this paper proposes a proximity estimation algorithm with position adjustment for autonomous industrial inspection. The algorithm considers the spatial relationships between nodes and the topological relationship between the signal strength and variations among the nodes. By analyzing the topological relationship between the signal strength and variations among the nodes, the robot autonomously adjusts its position and selects the proximal node based on the spatial topology relationship between them. We have built an inspection platform using quadruped robots to evaluate the effectiveness of the experiments. The experimental results demonstrate that the algorithm further improves the efficiency of identifying proximal devices while ensuring the estimation accuracy of the algorithm. © 2024 IEEE.

关键词： Topology

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Topography Modeling of Surface Grinding Based on Random Abrasives and Performance Evaluation

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Chinese Journal of Mechanical engineering 2024年第5期37卷 126-148页

作者： Yanbin Zhang Peng Gong Lizhi Tang Xin Cui Dongzhou Jia Teng Gao Yusuf Suleiman Dambatta Changhe Li Key Lab of Industrial Fluid Energy Conservation and Pollution Control Qingdao University of TechnologyMinistry of EducationQingdao 266520China School of Materials Science and Engineering Xi’an University of TechnologyXi’an 710048China College of Mechanical Engineering and Automation Liaoning University of TechnologyJinzhou 121001China Mechanical Engineering Department Ahmadu Bello UniversityZaria 810106Nigeria

The surface morphology and roughness of a workpiece are crucial parameters in grinding *** prediction of these parameters is essential for maintaining the workpiece’s surface ***,the randomness of abrasive grain shapes and workpiece surface formation behaviors poses significant challenges,and accuracy in current physical mechanism-based predictive models is *** address this problem,by using the random plane method and accounting for the random morphology and distribution of abrasive grains,this paper proposes a novel method to model CBN grinding wheels and predict workpiece surface ***,a kinematic model of a single abrasive grain is developed to accurately capture the three-dimensional morphology of the grinding ***,by formulating an elastic deformation and formation model of the workpiece surface based on Hertz theory,the variation in grinding arc length at different grinding depths is ***,a predictive model for the surface morphology of the workpiece ground by a single abrasive grain is *** model integrates the normal distribution model of abrasive grain size and the spatial distribution model of abrasive grain positions,to elucidate how the circumferential and axial distribution of abrasive grains influences workpiece surface ***,by integrating the dynamic effective abrasive grain model,a predictive model for the surface morphology and roughness of the grinding wheel is *** examine the impact of changing the grit size of the grinding wheel and grinding depth on workpiece surface roughness,and to validate the accuracy of the model,experiments are *** indicate that the predicted three-dimensional morphology of the grinding wheel and workpiece surfaces closely matches the actual grinding wheel and ground workpiece surfaces,with surface roughness prediction deviations as small as 2.3%.

关键词： Surface topography prediction Grinding Grinding wheel model Random plane method

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