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63rd IEEE Conference on Decision and control, CDC 2024

作者： Judy, Rachael L. Fuchs, Zachariah E. Casbeer, David W. University of Cincinnati Department of Electrical Engineering and Computer Science CincinnatiOH United States Control Science Center of Excellence Air Force Research Laboratory 2210 8th St. WPAFBOH45433 United States

ISBN: (纸本)9798350316339

An Escort and Defense Scenario is presented in which a high-value Target maneuvers through a high-risk region while being escorted by a mobile, defensive agent. Along this trajectory, an Attacker may be launched from one of several possible launch locations. If a launch occurs, the three agents play out a Target-Attacker-Defender (TAD) differential game in which the Defender attempts to intercept the Attacker at maximal distance from the Target while the Attacker strives to maneuver as close as possible to the Target. Prior to launch, the Target and Defender strive to preposition themselves in advantageous positions to effectively respond to a potential threat while simultaneously moving towards a safety region. An augmented collocation-based direct optimal control method is developed to solve the escort problem by solving and utilizing the value of the TAD differential subgame at each collocation point while simultaneously optimizing the primary optimal control problem. © 2024 IEEE.

关键词： Optimal control systems

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Recent Progress in Reinforcement Learning and Adaptive Dynamic Programming for Advanced control Applications

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 18-36页

作者： Ding Wang Ning Gao Derong Liu Jinna Li Frank L.Lewis IEEE the Faculty of Information Technology Beijing Key Laboratory of Computational Intelligence and Intelligent SystemBeijing Laboratory of Smart Environmental Protectionand Beijing Institute of Artificial IntelligenceBeijing University of TechnologyBeijing 100124China the School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China the Department of Electrical and Computer Engineering University of Illinois at ChicagoChicago IL 60607 USA the School of Information and Control Engineering Liaoning Petrochemical UniversityFushun 113001China the UTA Research Institute the University of Texas at ArlingtonArlington TX 76118 USA

Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, ***, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation ***, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.

关键词： Adaptive dynamic programming(ADP) advanced control complex environment data-driven control event-triggered design intelligent control neural networks nonlinear systems optimal control reinforcement learning(RL)

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A Novel Association Rule Mining Method for Streaming Temporal Data

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Annals of Data Science 2022年第4期9卷 863-883页

作者： Zheng, Hui Li, Peng He, Jing School of Computer Science Nanjing University of Posts and Telecommunications Nanjing China Jiangsu High Technology Research Key Laboratory for Wireless Sensor Networks Jiangsu Nanjing China School of Software and Electrical Engineering Swinburne University of Technology Melbourne Australia

Streaming temporal data contains time stamps and values, challenging to quantify relationships of time stamps and corresponding values. Moreover, the characteristics and relationships of streaming temporal data are not invariable. Thus, it is impossible to analyse all data by a trained model at the beginning of data streams. Practically, the trained model to analyse streaming temporal data should change according to the increasing volume of data. Association rule mining, on the other hand, can find potential relationships from given data. This paper proposes an association rule mining method for streaming temporal data to discover potential relationships from streaming temporal data. Our experiments verify our proposed method. A public data set is applied to compare the performance of the proposed method and its counterpart. A small data set is also applied for two case studies to further illustrate our proposed method mine association rules with streaming temporal data with time stamps and corresponding values. © 2021, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Association rule mining Potential relationships Streaming data

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Range-Limited Pursuit-Evasion

Range-Limited Pursuit-Evasion

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2023 IEEE National Aerospace and Electronics Conference, NAECON 2023

作者： Weintraub, Isaac E. Von Moll, Alexander Pachter, Meir Control Science Center Air Force Research Laboratory Wright-Patterson AFBOH United States Air Force Institute of Technology Electrical and Computer Engineering Wright-Patterson AFBOH United States

ISBN: (纸本)9798350338782

In pursuit-evasion the objective of the pursuer is to capture the evader. In this work, the faster pursuer is modeled to have limited range and therefore optimal strategies for the pursuer and evader change. Depending upon the range limits of the pursuer the evader may evade capture by the pursuer. This paper describes the optimal strategies and nuances that appear for point-capture or when the pursuer is endowed with a non-zero capture radius. © 2023 IEEE.

关键词： Multi agent systems

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Joint Multi-stage Planning of Renewable Generation, HESS, and AESS for Deeply Decarbonizing Power Systems with High-penetration Renewables

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IEEE Transactions on Sustainable Energy 2024年第3期16卷 1613-1628页

作者： Yu, Zhipeng Chi, Yingtian Lin, Jin Liu, Feng Li, Jiarong Song, Yonghua Ren, Zhengwei Lu, Chengcheng Ji, Mengbo Tsinghua University State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Beijing100087 China Tsinghua University Sichuan Energy Internet Research Institute Chengdu610213 China Harvard University Harvard John A. Paulson School of Engineering and Applied Sciences Cambridge United States University of Macau Department of Electrical and Computer Engineering Macau999078 China Tsinghua University Department of Electrical Engineering Beijing100087 China China Electric Power Planning & Engineering Institute National Electric Power Planning and Research Center Beijing100087 China Co. Ltd. Beijing100087 China Ordos City Hanxia Renewable Energy Co. Ltd. Ordos014300 China

The further decarbonization of power systems with high renewable energy penetration faces the problem of inter-day intermittence of renewable energy sources (RES) and the seasonal imbalance between RES and load demand, due to the limited regulation ability of conventional units such as thermal generation. Regular solutions based on battery energy storage system (BESS) are too costly to be practical. To address issues above, hydrogen energy storage system (HESS) and ammonia energy storage system (AESS) are introduced to gradually replace thermal generation. Specifically, first, HESS and AESS are incorporated into the multi-stage capacity expansion planning (MSCEP) model with carbon emission reduction constraints. Yearly data with hourly time resolution are utilized for each stage to accurately describe the intermittence of RES. Then, an improved column generation (CG) with Dantzig-Wolfe decomposition (DWD) embedded solution approach is used to efficiently solve the large-scale MSCEP model. Finally, a real-life system in China is studied. The results indicate that the proposed method can guarantee high power supply reliability (PSR) under different renewable energy penetration levels, avoiding the low PSR problem that may be caused by the existing typical scenario-based method (TSM) under high penetration (≥30%). Moreover, HESS and AESS are essential to reduce the cost of decarbonization. Especially under the goal of carbon neutrality, the contribution of HESS and AESS in reducing levelized cost of energy (LCOE) reaches 12.28% and 14.59%, respectively, leading to a levelized cost of carbon reduction (LCOCr) of 998 RMB/t. © 2010-2012 IEEE.

关键词： Hydrogen storage

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Resilient Routing Table Computation Based on Connectivity Preserving Graph Sequences 42

Resilient Routing Table Computation Based on Connectivity Pr...

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42nd IEEE International Conference on computer Communications, INFOCOM 2023

作者： Tapolcai, Janos Babarczi, Peter Ho, Pin-Han Ronyai, Lajos Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Telecommunications and Media Informatics BudapestH-1111 Hungary University of Waterloo Deptartment of Electrical and Computer Engineering Canada Institute for Computer Science and Control Eötvös Loránd Research Networkand Department of Algebra Hungary Institute of Mathematics Budapest University of Technology and Economics BudapestH-1111 Hungary

ISBN: (纸本)9798350334142

Fast reroute (FRR) mechanisms that can instantly handle network failures in the data plane are gaining attention in packet-switched networks. In FRR no notification messages are required as the nodes adjacent to the failure are prepared with a routing table such that the packets are re-routed only based on local information. However, designing the routing algorithm for FRR is challenging because the number of possible sets of failed network links and nodes can be extremely high, while the algorithm should keep track of which nodes are aware of the failure. In this paper, we propose a generic algorithmic framework that combines the benefits of Integer Linear Programming (ILP) and an effective approach from graph theory related to constructive graph characterization of k-connected graphs, i.e., edge splitting-off. We illustrate these benefits through arborescence design for FRR and show that (i) due to the ILP we have great flexibility in defining the routing problem, while (ii) the problem can still be solved very fast. We demonstrate through simulations that our framework outperforms state-of-the-art FRR mechanisms and provides better resilience with shorter paths in the arborescences. © 2023 IEEE.

关键词： Graph theory

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Energy Minimization using Custom-Designed Magnetic-Spring Actuators

Energy Minimization using Custom-Designed Magnetic-Spring Ac...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yue Yang Fu Ali U. Kilic David J. Braun Department of Electrical and Computer Engineering SyBBURE Searle Undergraduate Research Program Vanderbilt University Advanced Robotics and Control Laboratory Advanced Robotics and Control Laboratory Vanderbilt University

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This study introduces an innovative actuator that resembles a motor with a non-uniform permanent magnetic field. We have developed a prototype of the actuator by combining a standard motor, characterized by a uniform magnetic field, with a custom rotary magnetic spring exhibiting a non-uniform magnetic field. We have also presented a systematic computational approach to customize the magnetic field to minimize the energy consumption of the actuator when used for a user-defined oscillatory task. Experiments demonstrate that this optimized actuator significantly lowers energy consumption in a typical oscillatory task, such as pick-and-place or oscillatory limb motion during locomotion, compared to conventional motors. Our findings imply that incorporating task-optimized non-uniform permanent magnetic fields into conventional motors and direct-drive actuators could enhance the energy efficiency of robotic systems.

关键词： Actuators Energy consumption Limbs Systematics Prototypes Motors Minimization Magnetic fields Springs Standards

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Bayesian Optimization of Double-SAC Robotic Arm Path Planning Using Recent Prioritized Experience Replay 5

Bayesian Optimization of Double-SAC Robotic Arm Path Plannin...

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5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Yuan, Shuai Wen, Ke Zhang, Feng Xiong, Jianqiang Shenyang Jianzhu University Liaoning Province Big Data Management and Analysis Laboratory of Urban Construction Shenyang Branch of National Special Computer Engineering Technology Research Center School of Computer Science and Engineering Shengyang110168 China Shenyang Jianzhu University School of Electrical and Control Engineering Shengyang110168 China

ISBN: (纸本)9798350307320

As for the path planning of robotic arms, Deep Reinforcement Learning (DRL) algorithms have recently been developed. However, the high-dimensional action space and state space will result in reward sparsity and low training efficiency of robotic arm path planning. We propose a Bayesian optimization of Double-SAC algorithm using recent priority experience replay to solve these issues. We first propose the sampling method of recent prioritized experience replay (RPER), which combines recent sampling and prioritized experience replay (PER). The interval of experience pool is divided according to the recent sampling method, and sampling is performed according to the sample priority of the interval. Then we adopt a Bayesian optimization method that reduces the variance of the random strategy and improve the quality of the sampled actions. The larger variance is more beneficial for exploring the environment. Smaller variance is advantageous for exploiting good experiences to obtain higher returns. Our approach finds a good balance between exploration and exploitation. We train two Soft Actor Critic (SAC) agents to obtain two independent probability distributions, and a Bayesian optimizer is adopted to combine the two distributions to design a hybrid strategy. The hybrid strategy can output better actions according to the uncertainty estimation of the distribution, and further enhance training efficiency and stability. Finally, simulation tests are performed on the ROS-Gazebo platform, and the simulation results illustrate that the algorithm proposed in this paper converges faster and has a shorter training time than the original algorithm in terms of path planning performance. © 2023 IEEE.

关键词： Motion planning

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Safe Multi-Robotic Arm Interaction via 3D Convex Shapes

arXiv

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arXiv 2025年

作者： Kaypak, Ali Umut Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical and Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging 3D convex shape-based High-Order control Barrier Functions (HOCBFs) to address this issue. While prior works focused on using control Barrier Functions (CBFs) for human–robotic arm and single-arm collision avoidance, we explore the problem of collision avoidance between multiple robotic arms operating in a shared space. In our methodology, we utilize the proposed HOCBFs as centralized and decentralized safety filters. These safety filters are compatible with any nominal controller and ensure safety without significantly restricting the robots’ workspace. A key challenge in implementing these filters is the computational overhead caused by the large number of safety constraints and the computation of a Hessian matrix per constraint. We address this challenge by employing numerical differentiation methods to approximate computationally intensive terms. The effectiveness of our method is demonstrated through extensive simulation studies and real-world experiments with Franka research 3 robotic arms. © 2025, CC BY.

关键词： Robotic arms

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MARS: Multi-Agent Deep Reinforcement Learning for Real-Time Workflow Scheduling in Hybrid Clouds with Privacy Protection 30

MARS: Multi-Agent Deep Reinforcement Learning for Real-Time ...

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30th IEEE International Conference on Parallel and Distributed Systems, ICPADS 2024

作者： Cheng, Long He, Haoyang Gu, Yan Liu, Qingzhi Zhao, Zhiming Fang, Fang North China Electric Power University State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of Control and Computer Engineering Beijing China Wageningen University and Research Information Technology Group Netherlands University of Amsterdam Research Group of Multi-Scale Networked Systems Netherlands

ISBN: (纸本)9798331515966

Scheduling workflows in hybrid cloud environments presents significant challenges due to the inherent complexity of workflows and the dynamic nature of cloud resources. This complexity is further increased when attempting to balance workflow performance with privacy protection. Recent efforts have leveraged deep reinforcement learning (DRL) to address these challenges. However, most of these approaches rely on single-agent models, which can lead to security issues and scalability problems due to their centralized processing. Specifically, the properties of workflows are transferred to the single agent, which risks leaking privacy information. Our paper addresses these issues by introducing MARS, a real-time workflow scheduling method that prioritizes privacy protection in hybrid clouds. MARS leverages multi-agent deep reinforcement learning (MADRL) to optimize the workflow scheduling of cloud virtual machines (VMs). The benefit of our solution is that it relies on the collaborative learning of multi-agents on multiple VMs, which could assign user data to specific cloud servers for privacy protection while sharing training experiences between agents. In our implementation, MARS aims to reduce workflow completion time and operational costs while complying with strict privacy protection guidelines. The experimental results demonstrate that MARS can significantly surpass existing methods, reducing makespan by an average of 53.18% and costs by 61.98% compared to basic techniques, and achieving 20.26% and 25.71% improvements over the latest advanced methods, respectively. © 2024 IEEE.

关键词： Deep reinforcement learning

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