检索结果-内蒙古大学图书馆

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

作者： Angchen Xie Yeqiang Qian Weihao Yan Chunxiang Wang Ming Yang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

LiDAR is an essential sensor for intelligent vehicles. Recently, LiDARs used in vehicles produced by different companies have significant differences in their scanning patterns. Some vehicles use mechanical and solid-state (repetitive) LiDARs, while others use prism-based (non-repetitive) LiDARs. The scanning pattern of a LiDAR has a profound impact on its scanning performance. To investigate the influence of LiDAR scanning patterns, we created the "Repetitive-or-not" dataset, which is collected simultaneously by LiDARs with both repetitive and non-repetitive scanning patterns in the CARLA simulation environment. Using this dataset, we conducted a comprehensive statistical analysis of the scanning ability of repetitive and non-repetitive LiDARs. Furthermore, we looked into the effects of these two LiDAR scanning patterns on the performance of various 3D object detection algorithms. Finally, we explored the domain gap in the point cloud data produced by repetitive and non-repetitive LiDARs. Through an in-depth investigation of the "Repetitive-or-not" dataset, we have discovered that non-repetitive LiDAR shows great promise. This conclusion is primarily supported by its superior object scanning capabilities.

关键词： Point cloud compression Laser radar Three-dimensional displays Statistical analysis Intelligent vehicles Object detection Companies Robot sensing systems Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Robust Stability and Stabilization Conditions for Fractional-order systems with Distributed Delays and Polytopic Uncertainties

Robust Stability and Stabilization Conditions for Fractional...

引用

Chinese control and Decision Conference, CCDC

作者： Yi-Nan Chen Jun-Guo Lu Zhen Zhu Jia-Rui Zhang Qing-Hao Zhang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

This paper investigates the robust stability and stabilization conditions for fractional-order systems with distributed delays (FOSDDs) with polytopic uncertainties. To begin with, two robust stability conditions for FOSDDs with polytopic uncertainties are formulated. Subsequently, the state feedback controllers are put forward to robustly stabilize the FOSDDs with polytopic uncertainties. The obtained results are illustrated utilizing linear matrix inequalities (LMIs). Finally, two numerical instances are provided to showcase the effectiveness of the derived conditions.

关键词： State feedback Uncertainty Robust stability Delays Linear matrix inequalities Numerical stability

来源：评论

学校读者我要写书评

暂无评论

Towards Autonomous Indoor Parking: A Globally Consistent Semantic SLAM system and A Semantic Localization Subsystem

arXiv

引用

arXiv 2024年

作者： Sha, Yichen Zhu, Siting Guo, Hekui Wang, Zhong Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University China Dimensional Robot Shanghai China

We propose a globally consistent semantic SLAM system (GCSLAM) and a semantic-fusion localization subsystem (SF-Loc), which achieves accurate semantic mapping and robust localization in complex parking lots. Visual cameras (front-view and surround-view), IMU, and wheel encoder form the input sensor configuration of our system. The first part of our work is GCSLAM. GCSLAM introduces a novel factor graph for the optimization of poses and semantic map, which incorporates innovative error terms based on multi-sensor data and BEV (bird’s-eye view) semantic information. Additionally, GCSLAM integrates a Global Slot Management module that stores and manages parking slot observations. SF-Loc is the second part of our work, which leverages the semantic map built by GCSLAM to conduct map-based localization. SF-Loc integrates registration results and odometry poses with a novel factor graph. Our system demonstrates superior performance over existing SLAM on two real-world datasets, showing excellent capabilities in robust global localization and precise semantic mapping. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

来源：评论

学校读者我要写书评

暂无评论

PS-Loc: Robust LiDAR Localization with Prior Structural Reference

PS-Loc: Robust LiDAR Localization with Prior Structural Refe...

引用

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

作者： Rui Li Wentao Zhao Tianchen Deng Yanbo Wang Jingchuan Wang Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Ministry of Education Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Prior structural reference like floor plan is readily accessible in indoor scene, which exhibits the potential of improving localization quality without the requirements of a previously-built high-precision map. This paper introduces a novel optimal transport-based framework for prior structural reference-based localization, aiming to improve the robustness for the robot localization. Leveraging the spacial relations of structures, a matching method based on optimal transport theory is proposed and it improves the robustness of matching results in dynamic scene and rapid rotation conditions. Additionally, this paper handles metric inaccuracies in the known structural reference by implementing an prior guided plane adjustment-based updating strategy. This strategy combines prior and observational information to jointly optimize the structural information within a sliding window. The performance of the framework is validated through real-world experiments, demonstrating superior accuracy and robustness to disturbances from dynamic occlusion and rapid rotation compared to common state-of-the-art SLAM and localization methods.

关键词： Location awareness Measurement Laser radar Simultaneous localization and mapping Accuracy Robustness Robot localization Intelligent robots Floors

来源：评论

学校读者我要写书评

暂无评论

Data-Driven Distributionally Robust Electricity-Hydrogen Trading Considering The Carbon Intensity of Hydrogen Production

Data-Driven Distributionally Robust Electricity-Hydrogen Tra...

引用

Asian control Conference

作者： Longyan Li Chao Ning Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper proposes a data-driven distributionally robust local electricity-hydrogen market framework, where Hydrogen-based Micro-Grids (HMGs) supply hydrogen to heterogeneous Hydrogen Users (HUs) including hydrogen refueling stations and industrial plants. In this framework, the coordination between HMGs and HUs is cast as a multi-leader multi-follower Stackelberg game. Specifically, HMGs determine an integrated hydrogen-carbon price and carry out electricity trading through a non-cooperative game. Meanwhile, HUs act as followers adjusting hydrogen purchase strategies. Furthermore, the self-dispatching of HMGs and HUs are modeled as distributionally robust optimization problems considering source-load and hydrogen demand uncertainties, respectively. To hedge against these uncertainties, a novel Bayesian nonparametric hybrid ambiguity set is constructed based on local Wasserstein balls and moment information. Finally, a distributed algorithm is developed to solve the market clearing problem. Comparative studies validate that the proposed framework outperforms existing methods, demonstrating a total income improvement of 12.3% and a carbon emission reduction of 11.6%.

关键词： Uncertainty Hydrogen Carbon dioxide Pricing Games Production Power markets

来源：评论

学校读者我要写书评

暂无评论

Cluster Consensus Problem on Time-varying Higher-Order Interaction Networks

Cluster Consensus Problem on Time-varying Higher-Order Inter...

引用

IEEE Conference on Decision and control

作者： Haoyu Wei Lulu Pan Haibin Shao Dewei Li Wenbin Yu Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper examines the cluster consensus problem of higher-order interaction networks on switching networks. The matrix-valued inter-agent coupling mechanism is employed to capture the higher-order interactions amongst neighboring agents. Specifically, for a higher-order interaction network with both positive definite and positive semi-definite coupling matrices, we examine the scenario in which the nullspace of positive semi-definite coupling matrices is constructed by a set of orthogonal basis vectors. From the perspective of the lower-order component graph -the projection of network structure onto the direction of each orthogonal basis–results on the explicit characterization of cluster consensus of higher-order interaction networks are provided. Moreover, for time-varying higher-order interaction networks, necessary and sufficient conditions are provided to ensure that a time-varying network shares the same steady-state values as the integral time-invariant network. Simulation results are provided to demonstrate the theory.

关键词： Couplings Sufficient conditions Network topology Simulation Switches Vectors Topology Steady-state Matrix decomposition Convergence

来源：评论

学校读者我要写书评

暂无评论

Evolutionary Dynamics of Cooperation on Coupled Networks

Evolutionary Dynamics of Cooperation on Coupled Networks

引用

control Theory and Applications (ICoCTA), International Conference on

作者： Zhenyu Shi Qi Su Department of Automation Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331506155

ISBN: (纸本)9798331506162

Network reciprocity has been recognized as a crucial mechanism for promoting the evolution of cooperation. However, prior studies on network reciprocity have predominantly focused on isolated networks, neglecting the interconnected nature of real-world systems. In reality, many large-scale systems are closely coupled, where the interaction patterns between systems differ significantly from those within individual networks. Motivated by this observation, we construct a strategy evolution model on coupled networks to explore the effects of such interconnections. Our findings reveal that coupled networks foster cooperation more effectively than isolated networks. This advantage persists across various network structures, suggesting the universality of this phenomenon. Interestingly, we discover that the strength of the coupling plays a pivotal role: weaker coupling between networks is more conducive to the emergence and stability of cooperation compared to stronger coupling. These results high-light the importance of considering cross-system interactions in understanding and designing mechanisms to enhance cooperative behavior.

关键词： Couplings Stability analysis Large-scale systems control theory Game theory

来源：评论

学校读者我要写书评

暂无评论

End-to-end Automatic Targetless Calibration between Low-resolution LiDARs and Cameras based on Cross-modal Attention

End-to-end Automatic Targetless Calibration between Low-reso...

引用

Chinese control and Decision Conference, CCDC

作者： Tianyang Huang Jun-Guo Lu Ming Wei Qing-Hao Zhang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

LiDARs and cameras, commonly used sensors on autonomous vehicles and robots, require precise calibration for accurate joint environmental perception. Current calibration methods, capable of adjusting both intrinsic and extrinsic parameters, often depend on physical targets or human intervention, making them unsuitable for automatic online calibration. Moreover, these methods are primarily optimized for dense point clouds, as they are often tuned on open datasets featuring high-quality point cloud data. However, low-resolution LiDARs, preferred for their cost-effectiveness, are prevalent in practical applications. To automate the calibration process while maintaining high precision on sparse point clouds, multi-modal image registration techniques are leveraged to develop an end-to-end, cross-attention-based neural network for automatic calibration of low-resolution LiDARs and Cameras. Specifically, given an initial perturbation on point clouds, our network is capable of recovering the true extrinsic parameters without manual intervention. Additionally, specialized input preprocessing and training strategies are incorporated to enhance performance with sparse point clouds. Promising results are achieved on both open datasets and custom sensor acquisitions, highlighting the effectiveness and adaptability of our network to diverse scenarios.

关键词： Point cloud compression Training Image registration Visualization Laser radar Perturbation methods Neural networks

来源：评论

学校读者我要写书评

暂无评论

Accelerated Simulation of Non-Markovian Quantum systems Using Quantum Trajectory

Accelerated Simulation of Non-Markovian Quantum Systems Usin...

引用

第42届中国控制会议

作者： Yanfang Wang Bo Yue Shibei Xue Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

Quantum trajectory can be viewed as a numerical simulation method for wavefunctions which consume smaller memories compared to density matrices in master equations. In this paper, we adopt quantum trajectory to simulate the evolution of a non-Markovian quantum system modeled by an augmented system and further use parallel computing to improve *** to the Lindblad master equation solver in QuTiP, it can run more efficiently using less memory. In the example of a8-spin-chain non-Markovian system, it only takes about 0.57% of the memory footprint and 4.12% of the runtime of the solver for the Lindblad master equation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Formal control Synthesis via Safe Reinforcement Learning Under Real-Time Specifications

Formal Control Synthesis via Safe Reinforcement Learning Und...

引用

International Conference on control and automation (ICCA)

作者： Peng Lv Guangqing Luo Zhou He Xianwei Li Xiang Yin Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China School of Electrical and Control Engineering Shaanxi University of Science and Technology Xi'an China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

In recent years, reinforcement learning techniques have gained widespread application in control synthesis. However, in the context of safety-critical systems, employing trial-and-error based reinforcement learning may be unacceptable due to the potential risks it poses during the learning process. Consequently, the development of safe reinforcement learning techniques has become imperative. This paper addresses the challenge of safe reinforcement learning for controller synthesis, particularly when safety specifications are intricately linked to the real-time behavior of the system. To articulate time-sensitive requirements, we leverage Metric Interval Temporal Logic (MITL). To ensure safety throughout the learning process, we introduce an additional reactive controller called a shield. Specifically, the shield functions to reject any behavior that violates the real-time specifications, thus mitigating potential risks. The efficacy of our proposed approach is demonstrated through simulation results, highlighting its ability to satisfy safety constraints in the dynamic environment of controller synthesis.

关键词： Measurement Heuristic algorithms Simulation Process control Reinforcement learning Real-time systems Safety

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：