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6th International Conference on Intelligent Robotics and Applications, ICIRA 2013

作者： Liao, Wenlong Chen, Weidong Wei, Zhixuan Zhang, Wenxi Wang, Jingchuan Li, Kang Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China Harbin 150001 China Electrical Engineering and Computer Science Queen's University Belfast Belfast BT9 5AH United Kingdom

ISBN: (纸本)9783642408519

Simulator for smart wheelchairs is of great significance for both driver training and algorithm design. A development and simulation platform for wheelchairs is presented in this paper. On this platform, simulations of kinematics, dynamics and sensors are integrated, and a virtual prototype of wheelchair and virtual world are modled also. The sensors include encoders, a laser range finder and a set of Kinect. This platform is implemented in Gazebo and ROS, and is completely open source and freely available. Experiments verifies that this platform can be used as a valid tool for driver training and algorithm design. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Virtual reality

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Hybrid Modelling of Distributed Water Supply Networks

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IFAC Proceedings Volumes 2013年第13期46卷 111-116页

作者： Dongming Liu Jing Wu Ning Li Shaoyuan Li Department of Automation Shanghai Jiao Tong University Shanghai 200240 Changzhou Institute of Light Industry Technology Changzhou Jiangsu 213164 Key Laboratory of System Control and Information Processing Ministry of Education China

In this paper, the modelling of a class of distributed water supply networks is considered, where the modelling of pipes, valves, pump stations and reservoirs are presented separately. Two laws, nodal mass balance and energy conservation, are introduced to derive a general model for the water supply networks. The pumps are assumed to be working in parallel and a hybrid model is provided to describe the dynamics of pump stations, the discrete/ continuous variables in which represent the status (on or off) and the speed of pumps, respectively. Finally, a case study is given to illustrate the effectiveness of our proposed methods.

关键词： Water supply networks Distributed Pump station Hybrid Modelling

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Distributed Leader-following Swarm of Heterogeneous Multi-agent systems *

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IFAC Proceedings Volumes 2013年第13期46卷 13-18页

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z.Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China Department of Mechanical Engineering The University of Hong Kong Hong Kong

This paper investigates distributed leader-following swarm of heterogeneous multi-agent systems. Comparing with the existing works on leader-following swarm of homogeneous multi-agent systems, this paper is much more approaching the practical situation because the agents have different dynamics. We show that the heterogeneous followers will gather with a certain error lever under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result.

关键词： Swarm Multi-agent systems Heterogeneous systems Distributed control

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Swarm Stability of Heterogeneous Multi-agent systems via Periodically Intermittent control

Swarm Stability of Heterogeneous Multi-agent Systems via Per...

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第三十二届中国控制会议

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z. Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Department of Mechanical Engineering The University of Hong Kong

ISBN: (纸本)9789881563835

This paper investigates distributed leader-following swarm stability of heterogeneous multi-agent systems with periodically intermittent control. We assume that the agents in the network are nonidentical and the coupling matrix is balanced. Each heterogeneous follower is assumed to obtain some information from the leader and the neighbors only on a series of periodically time intervals. We show that the system will be exponentially stable. The stability properties are proved via theoretical analysis and verified via numerical simulations. The stability of the heterogeneous multi-agent systems is proved based on matrix theory and the Lyapunov stability theorem. A numerical example is shown to demonstrate the effectiveness of the theoretical result.

关键词： Multi-agent systems, Heterogeneous systems, Intermittent control, Swarm

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Human interest oriented heterogeneous multi-robot exploration under connectivity constraints

Human interest oriented heterogeneous multi-robot exploratio...

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IEEE International Conference on Robotics and Biomimetics

作者： Han Zhang Weidong Chen Jingchuan Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing Shanghai Electronics and Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

ISBN: (纸本)9781479927456

Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed to enable these robot explorers to coordinate based on the operator's intention. Furthermore, an optimization index is proposed to balance the obedience, connectivity and explorability of the system; and the optimization problem is solved to generate the movements of the mobile base station and the robot explorers. Simulations and real-world experiments have demonstrate the effectiveness of the system and the efficiency of the exploration process.

关键词： Robot kinematics Base stations Optimization Resource management Equations Mobile communication

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The Stabilization of Coordinated Distributed Model Predictive control *

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IFAC Proceedings Volumes 2013年第13期46卷 182-187页

作者： Y. Zheng S.Y. Li School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Key Laboratory of Control of Power Transmission and Conversion Ministry of Education Road Shanghai 200240 China Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China (Tel: 34204011 )

A stabilized Distributed MPC for large scale system is proposed and its designation is given in this paper for improving the global performance of closed-loop system. To make the performance of closed-loop system more close to that using centralized MPC, each subsystem-based MPC added the cost of the entire system into its optimization cost function. In addition, a consistency constraint and dual mode strategy are designed and adopted. Provided an initially feasible solution can be found, subsequent feasibility of the algorithm is guaranteed at every update, and the asymptotic stabilization is established.

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Identifying peer influence in online social networks using transfer entropy

Identifying peer influence in online social networks using t...

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Pacific Asia Workshop on Intelligence and Security Informatics, PAISI 2013

作者： He, Saike Zheng, Xiaolong Zeng, Daniel Cui, Kainan Zhang, Zhu Luo, Chuan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Management Information System University of Arizona Tucson AZ 85719 United States School of Electronic and Information Engineering Xi'an Jiaotong University Xi'an China

ISBN: (纸本)9783642396922

The past few years have witnessed the rapid growth of online social networks, which have become important hubs of social activity and conduits of information. Identifying social influence in these newly emerging platforms can provide us with significant insights to better understand the interaction behaviors among online users. However, it is difficult for us to measure the influence quantitatively among user peers, since many key factors such as homophily and heterogeneity, can not be observed in our real world conveniently. More recent work mainly focuses on developing theoretical models based on explicit causal knowledge. Nevertheless, such knowledge is usually not available and often needs to be discovered. In this paper, we introduce a model free approach to formulate causal inferences of behaviors among user peers. Experimental results show that influence measured by our approach could successfully reconstruct the underlying networks structure. Furthermore, two additional case studies based on this approach reveal that influentials wield power through specific venues, which constitute a comparatively small portion of the whole channels. © 2013 Springer-Verlag.

关键词： Social networking (online)

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A novel robust MM filter for target tracking with glints

A novel robust MM filter for target tracking with glints

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Chinese control Conference (CCC)

作者： Yong Liu Yan Liang Quan Pan Ministry of Education Key Laboratory of System Control and Information Processing Shanghai School of Automation Northwestern Polytechnical University Xi'an School of Automation Northwestern Polytechnical University Xi'an China

Interacting Multiple Model (IMM) filter faces significant outlier-caused peak-errors. In this paper, the Bayesian probability update in IMM is found equivalent to Dempster's Rule of Combination which cannot handle evidence conflicts caused by outliers. Furthermore, a novel robust MM (RMM) filter is proposed through introducing expert rules about mode evolvement and presenting the Likelihood Temporal Ratio (LTR) and building the Induced Combination Rule (ICR). Simulations about target tracking show the effectiveness of the proposed method.

关键词： Robustness Filtering theory Target tracking Noise Bayes methods Switches information filtering

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Global and Local Path Planning of MicroIV for Traffic Flow Modeling and Simulation

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IFAC Proceedings Volumes 2013年第13期46卷 502-507页

作者： Lindong GUO Ming YANG Zhengchen LU Bing WANG Chunxiang WANG Department of automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China

This paper focuses on the research of global and local path planning in complex traffic flow simulation using Micro Intelligent Vehicles (MicroIV). Firstly, a global path planning approach with time division based hierarchical topology maps is proposed to achieve a legal optimal path with the consideration of complicated topology maps caused by the dynamic traffic rules in local intersections and lanes. Secondly, multi-agents based control system architecture of MicroIV is designed where multi-autonomous driving tasks involved. Thirdly, a local path planning approach for different autonomous driving is proposed with the control system architecture. Experimental results show that these proposed approaches could meet the demand of path planning for MicroIV in complex traffic flow simulation.

关键词： micro intelligent vehicles path planning control system architecture

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Gain-scheduling Distributed MPC for Polytopic Uncertain systems subject to Actuator Saturation

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IFAC Proceedings Volumes 2013年第13期46卷 444-449页

作者： Langwen Zhang Jingcheng Wang Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

In this paper, we present a gain-scheduling distributed model predictive control (MPC) algorithm for polytopic uncertain systems subject to actuator saturation. A large-scale system is decomposed into subsystems and sub-controllers are designed independently. An invariant set condition is provided and a min-max distributed MPC strategy is proposed based on the invariant set. The distributed MPC controller is determined by solving a linear matrix inequality (LMI) optimization problem. An iterative algorithm is provided to coordinate the sub-controllers. A numerical example is carried out to demonstrate the effectiveness of the proposed algorithm.

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