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Pursuit-Evasion on a Sphere and When It Can Be Considered Flat

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Pursuit-Evasion on a Sphere and When It Can Be Considered Fl...

IEEE Conference on Decision and control

作者： Dejan Milutinović Alexander Von Moll Satyanarayana G. Manyam David W. Casbeer Isaac E. Weintraub Meir Pachter Dept. University of California Santa Cruz Electrical and Computer Engineering Santa Cruz CA USA Control Science Center Aerospace Systems Directorate Air Force Research Laboratory Dayton OH USA DCS Corporation Dayton OH USA Dept. of Electrical Engineering Air Force Institute of TechnologyWright-Patterson AFB OH USA

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In planar pursuit-evasion differential games considering a faster pursuer and slower evader, the interception points resulting from equilibrium strategies lie on the Apollonius circle. This property is instrumental for leveraging geometric approaches for solving multiple pursuit-evasion scenarios in the plane. Here, we study a pursuit-evasion differential game on a sphere and generalize the planar Apollonius set to the spherical domain. We find that the interception point from the equilibrium strategies can leave the Apollonius set boundary and present a condition to keep the intercept point on the boundary. This condition allows for generalizing planar pursuitevasion strategies to the sphere.

关键词： Geometry Instruments Differential games Games

Generative Artificial Intelligence Assisted Wireless Sensing: Human Flow Detection in Practical Communication Environments

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arXiv 2024年

作者： Wang, Jiacheng Du, Hongyang Niyato, Dusit Xiong, Zehui Kang, Jiawen Ai, Bo Han, Zhu Kim, Dong In School of Computer Science and Engineering Nanyang Technological University Singapore639798 Singapore Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore China Ministry of Education Guangzhou510006 China State Key Laboratory of Rail Traffic Control and Safety Beijing Engineering Research Center of High-Speed Railway Broadband Mobile Communications Beijing Jiaotong University Beijing100044 China Department of Electrical and Computer Engineering University of Houston HoustonTX77004 United States Department of Electrical and Computer Engineering Sungkyunkwan University Suwon16419 Korea Republic of

Groundbreaking applications such as ChatGPT have heightened research interest in generative artificial intelligence (GAI). Essentially, GAI excels not only in content generation but also signal processing, offering support for wireless sensing. Hence, we introduce a novel GAI-assisted human flow detection system (G-HFD). Rigorously, G-HFD first uses the channel state information (CSI) to estimate the velocity and acceleration of propagation path length change of the human induced reflection (HIR). Then, given the strong inference ability of the diffusion model, we propose a unified weighted conditional diffusion model (UW-CDM) to denoise the estimation results, enabling detection of the number of targets. Next, we use the CSI obtained by a uniform linear array with wavelength spacing to estimate the HIR’s time of flight and direction of arrival (DoA). In this process, UW-CDM solves the problem of ambiguous DoA spectrum, ensuring accurate DoA estimation. Finally, through clustering, G-HFD determines the number of subflows and the number of targets in each subflow, i.e., the subflow size. The evaluation based on practical downlink communication signals shows G-HFD’s accuracy of subflow size detection can reach 91%. This validates its effectiveness and underscores the significant potential of GAI in the context of wireless sensing. © 2024, CC BY.

关键词： Artificial intelligence

One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation

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arXiv 2022年

作者： Lu, Sha Xu, Xuecheng Yin, Huan Chen, Zexi Xiong, Rong Wang, Yue State Key Laboratory of Industrial Control and Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310058 China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Hong Kong

LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation and translation, using only the current scan as query and a database of map scans. Inspired by the definition of a recognized place, we consider that a good global localization solution should keep the pose estimation accuracy with a lower place density. Following this idea, we propose a novel framework towards sparse place-based global localization, which utilizes a unified and learning-free representation, Radon sinogram (RING), for all sub-tasks. Based on the theoretical derivation, a translation invariant descriptor and an orientation invariant metric are proposed for place recognition, achieving certifiable robustness against arbitrary orientation and large translation between query and map scan. In addition, we also utilize the property of RING to propose a global convergent solver for both orientation and translation estimation, arriving at global localization. Evaluation of the proposed RING based framework validates the feasibility and demonstrates a superior performance even under a lower place density. Copyright © 2022, The Authors. All rights reserved.

关键词： Radon

Secrecy Outage Probability Analysis for Downlink RIS-NOMA Networks with On-Off control

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arXiv 2024年

作者： Pei, Yingjie Yue, Xinwei Yi, Wenqiang Liu, Yuanwei Li, Xuehua Ding, Zhiguo Key Laboratory of Information and Communication Systems Ministry of Information Industry Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Electrical Engineering Princeton University Princeton United States School of Electrical and Electronic Engineering The University of Manchester Manchester United Kingdom

Reconfigurable intelligent surface (RIS) has been regarded as a promising technology since it has ability to create the favorable channel conditions. This paper investigates the secure communications of RIS assisted non-orthogonal multiple access (NOMA) networks, where both external and internal eavesdropping scenarios are taken into consideration. More specifically, novel approximate and asymptotic expressions of secrecy outage probability (SOP) for the k-th legitimate user (LU) are derived by invoking imperfect successive interference cancellation (ipSIC) and perfect successive interference cancellation (pSIC). To characterize the secrecy performance of RIS-NOMA networks, the diversity order of the k-th LU with ipSIC/pSIC is obtained in the high signal-to-noise ratio region. The secrecy system throughput of RIS-NOMA networks is discussed in delay-limited transmission mode. Numerical results are presented to verify theoretical analysis that: i) The SOP of RIS-NOMA networks is superior to that of RIS assisted orthogonal multiple access (OMA) and conventional cooperative communication schemes;ii) As the number of reflecting elements increases, the RIS-NOMA networks are capable of achieving the enhanced secrecy performance;and iii) The RIS-NOMA networks have better secrecy system throughput than that of RIS-OMA networks and conventional cooperative communication schemes. Copyright © 2024, The Authors. All rights reserved.

关键词： Cooperative communication

Quantized Distributed Nonconvex Optimization Algorithms with Linear Convergence under the Polyak–Lojasiewicz Condition

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IEEE Transactions on Automatic control 2025年

作者： Xu, Lei Yi, Xinlei Sun, Jiayue Shi, Yang Johansson, Karl H. Yang, Tao Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China University of Victoria Department of Mechanical Engineering VictoriaBCV8W 2Y2 Canada Tongji University Shanghai Institute of Intelligent Science and Technology Shanghai201804 China KTH Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm100 44 Sweden

This paper considers distributed optimization for minimizing the average of local nonconvex cost functions, by using local information exchange over undirected communication networks. To reduce the required communication capacity, we introduce an encoder–decoder scheme. By integrating it with distributed gradient tracking and proportional integral algorithms, respectively, we then propose two quantized distributed nonconvex optimization algorithms. Assuming the global cost function satisfies the Polyak–Lojasiewicz condition, which does not require the global cost function to be convex and the global minimizer is not necessarily unique, we show that our proposed algorithms linearly converge to a global optimal point. Moreover, we show that a low data rate is sufficient to guarantee linear convergence when the algorithm parameters are properly chosen. The theoretical results are illustrated by numerical examples. © 1963-2012 IEEE.

关键词： Cost functions

PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction

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arXiv 2023年

作者： Feng, Chen Li, Haojia Gao, Fei Zhou, Boyu Shen, Shaojie School of Artificial Intelligence Sun Yat-Sen University Zhuhai China Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong State Key Laboratory of Industrail Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China

Autonomous UAV path planning for 3D reconstruction has been actively studied in various applications for high-quality 3D models. However, most existing works have adopted explore-then-exploit, prior-based or exploration-based strategies, demonstrating inefficiency with repeated flight and low autonomy. In this paper, we propose PredRecon, a prediction-boosted planning framework that can autonomously generate paths for high 3D reconstruction quality. We obtain inspiration from humans can roughly infer the complete construction structure from partial observation. Hence, we devise a surface prediction module (SPM) to predict the coarse complete surfaces of the target from the current partial reconstruction. Then, the uncovered surfaces are produced by online volumetric mapping waiting for observation by UAV. Lastly, a hierarchical planner plans motions for 3D reconstruction, which sequentially finds efficient global coverage paths, plans local paths for maximizing the performance of Multi-View Stereo (MVS), and generates smooth trajectories for image-pose pairs acquisition. We conduct benchmarks in the realistic simulator, which validates the performance of PredRecon compared with the classical and state-of-the-art methods. The open-source code is released at https://***/HKUST-Aerial-Robotics/PredRecon. Copyright © 2023, The Authors. All rights reserved.

关键词： Forecasting

AutoTrans: A Complete Planning and control Framework for Autonomous UAV Payload Transportation

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arXiv 2023年

作者： Li, Haojia Wang, Haokun Feng, Chen Gao, Fei Zhou, Boyu Shen, Shaojie School of Artificial Intelligence Sun Yat-Sen University Zhuhai China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China

The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great challenges in planning and control. To realize fully autonomous aerial transportation, this paper presents a systematic solution to address these difficulties. First, we present a real-time planning method that generates smooth trajectories considering the time-varying shape and non-linear dynamics of the system, ensuring whole-body safety and dynamic feasibility. Additionally, an adaptive NMPC with a hierarchical disturbance compensation strategy is designed to overcome unknown external perturbations and inaccurate model parameters. Extensive experiments show that our method is capable of generating high-quality trajectories online, even in highly constrained environments, and tracking aggressive flight trajectories accurately, even under significant uncertainty. We plan to release our code to benefit the community. © 2023, CC BY-NC-ND.

关键词： Trajectories

PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction

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PredRecon: A Prediction-boosted Planning Framework for Fast ...

IEEE International Conference on Robotics and Automation (ICRA)

作者： Chen Feng Haojia Li Fei Gao Boyu Zhou Shaojie Shen Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong China State Key Laboratory of Industrail Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China School of Artificial Intelligence Sun Yat-Sen University Zhuhai China

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A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

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A SINS Error Correction Approach Based on Dual-Threshold ZV ...

IEEE International Conference on systems, Man and Cybernetics

作者： Ruijie Xu Shichao Chen Wenqiao Sun Yisheng Lv Jialiang Luo Ying Tang The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems The Center of National Railway Intelligent Transportation System Engineering and Technology Institute of Automation Chinese Academy of Sciences China Academy of Railway Sciences Corporation Limited Beijing China China Academy of Railway Sciences Corporation Limited Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing Beijing China Department of Electrical and Computer Engineering Rowan University Glassboro USA

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation System (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance.

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