In this paper, we extend a constraint-based coverage control for robotic sensor networks based on control barrier functions (CBFs) for environments with known obstacles and different types of unmanned vehicles (UV). T...
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In this paper, we extend a constraint-based coverage control for robotic sensor networks based on control barrier functions (CBFs) for environments with known obstacles and different types of unmanned vehicles (UV). To this end, we use a sensing function that considers the vertices of the obstacles to compute the route and the distance regarding the UVs. This way, obstacle avoidance becomes intrinsic to the CBF ensuring the coverage performance. Moreover, we consider different obstacles and speeds for each type of UV. Finally, the proposed algorithm is illustrated with a heterogeneous fleet of UVs and obstacles in a simulated thermosolar power plant.
This study investigates the impact of blade gap angle on spiral axial flow gas–liquid multiphase pump performance. Using five numerical models and the shear stress transport k-omega (SST k-ω) turbulence model, we in...
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Vehicle platooning has attracted growing attention for its potential to enhance traffic capacity and road safety. This paper proposes an innovative distributed Stochastic Model Predictive control (SMPC) for a vehicle ...
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Vehicle platooning has attracted growing attention for its potential to enhance traffic capacity and road safety. This paper proposes an innovative distributed Stochastic Model Predictive control (SMPC) for a vehicle platoon system to enhance the robustness and safety of the vehicles in uncertain traffic environments. In particular, considering the similarity between the acceleration or deceleration behaviour of neighbouring vehicles and the spring-scale properties, we use a two-mass spring system for the first time to construct an uncertain dynamic model of a formation system. In the presence of uncertain perturbations with known distributional attributes (expectation, variance), we propose an objective function in the form of expectation along with probabilistic chance constraints. Subsequently, a state feedback control mechanism is devised accordingly. Under the cumulative probability distribution function of stochastic perturbations, we theoretically derive a computationally tractable equivalent of the SMPC model. Finally, simulation experiments are designed to validate the control performance of the SMPC platoon controllers, along with an analysis of the stability performance under varying probabilities. The experimental findings demonstrate that the model can be efficiently solved in real-time with appropriately chosen prediction horizon lengths, ensuring robust and safe longitudinal vehicle formation control. IEEE
The report describes the design of a symmetrical dipole radiator with a matching reactive loop. The possibility of broadband matching and obtaining the maximum directivity is investigated. The possibility of matching ...
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Software is a crucial component in the communication systems,and its security is of paramount ***,it is susceptible to different types of attacks due to potential ***,significant time and effort is required to fix suc...
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Software is a crucial component in the communication systems,and its security is of paramount ***,it is susceptible to different types of attacks due to potential ***,significant time and effort is required to fix such *** propose an automated program repair method based on controlled text generation ***,we utilize a fine-tuned language model for patch generation and introduce a discriminator to evaluate the generation process,selecting results that contribute most to vulnerability ***,we perform static syntax analysis to expedite the patch verification *** effectiveness of the proposed approach is validated using QuixBugs and Defects4J datasets,demonstrating significant improvements in generating correct patches compared to other existing methods.
In this paper, we address the safety verification problem of switched linear dynamical systems under arbitrary switching via barrier functions. Our approach is based on a notion of path-complete barrier functions, whi...
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Many multiagent system applications necessitate each agent to separately visit a specific location in space at a particular moment in time (i.e., spatiotemporal points). To this end, we propose a finite-time distribut...
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This paper considers the equilibrium-free stability and performance analysis of discrete-time nonlinear systems. We consider two types of equilibrium-free notions. Namely, the universal shifted concept, which consider...
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In the past decades,substantial progress has been made in human action ***,most existing studies and datasets for human action recognition utilise still images or videos as the primary ***-based approaches can be easi...
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In the past decades,substantial progress has been made in human action ***,most existing studies and datasets for human action recognition utilise still images or videos as the primary ***-based approaches can be easily impacted by adverse environmental *** this paper,the authors propose combining RGB images and point clouds from LiDAR sensors for human action recognition.A dynamic lateral convolutional network(DLCN)is proposed to fuse features from *** RGB features and the geometric information from the point clouds closely interact with each other in the DLCN,which is complementary in action *** experimental results on the JRDB-Act dataset demonstrate that the proposed DLCN outperforms the state-of-the-art approaches of human action *** authors show the potential of the proposed DLCN in various complex scenarios,which is highly valuable in real-world applications.
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