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Cooperative Hierarchical Coverage control of Multi-Agent systems with Non-holonomic Constraints in Poriferous Environments

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IEEE Transactions on control of Network systems 2025年第2期12卷 1512-1520页

作者： Zou, Jiayu Zhang, Hai-Tao Zhai, Chao Xing, Ning Ma, Yong Liu, Xingjian Huazhong University of Science and Technology School of Artificial Intelligence and Automation The MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems The State Key Laboratory of Digital Manufacturing Equipment and Technology Wuhan430074 China China University of Geosciences School of Automation China The MOE Engineering Research Center of Intelligent Technology for Geo-Exploration Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Academician Workstation of China COSCO Shipping Corporation Ltd. Shanghai200120 China Wuhan University of Technology Sanya Science and Education Innovation Park Sanya572000 China Wuhan University of Technology Chongqing Research Institute Chongqing401120 China

It has long posed a challenging task to optimally deploy multi-agent systems (MASs) to cooperatively coverage poriferous environments in real cooperative detection applications. In response to this challenge, this paper proposes a hierarchical coverage control (HCC) protocol for MASs to perform sector-based coverage operations. First, a distributed Voronoi partition-based sweep-and-assign protocol, combined with a sectorial partition method, is developed, enabling the segmentation of a whole poriferous region into multiple sectorial sub-subregions. Following this procedure, an extreme search scheme is developed to determine the optimal amount of agents for each subregion. After this allocation, a distributed controller is proposed to deploy the agents, considering non-holonomic constraints, into designated niche positions. Additionally, sufficient conditions are derived to guarantee the asymptotical stability of the present HCC. The analytical challenge of the present study stems from the non-convex characteristics inherent in the loss function induced by porous environments. This non-convexity renders the task of globally optimizing the assignment of MASs intractable. Finally, numerical simulations are conducted to validate the effectiveness of the present coverage control approach. © 2014 IEEE.

关键词： Nonlinear control systems

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Asymptotical control Strategy for a Class of High-Order Nonlinear systems with Multiple Uncertainties

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IEEE Access 2023年 11卷 89947-89957页

作者： Han, Zhi-Fei Li, Jiao-Jiao Sun, Zong-Yao Chen, Chih-Chiang Qufu Normal University Faculty of Education Qufu273165 China Institute of Automation Qufu Normal University Qufu273165 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan70101 Taiwan

This study explores the issue of adaptive stabilization for a class of high-order uncertain nonlinear systems with asymmetric output constraint and zero dynamics. By combining skillful Barrier Lyapunov Function (BLF) with the technique of continuous feedback domination equipped with a group of integral functions including nested sign functions, a continuous state feedback stabilizer is established, which guarantees that the closed-loop system's states converge to zero asymptotically while keeping the asymmetric output restriction inviolate. Superior to the existing methods, the developed strategy can not only simultaneously cope with the output asymmetric constraints and dynamic uncertainties, but also unifies the construction and theory analysis for the limited and unlimited output. At last, a numerical simulation is offered to verify the efficiency of the developed method. © 2013 IEEE.

关键词： Uncertainty analysis

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Feasibility Study of a Loosely Coupled LiDAR-Visual-Inertial Positioning System for a Lunar Landing Using a Scaled Terrain Model

Feasibility Study of a Loosely Coupled LiDAR-Visual-Inertial...

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2022 International Technical Meeting of The institute of Navigation, ITM 2022

作者： Choe, Yeongkwon Kim, Yejun Cha, Jaehyuck Park, Chan Gook Department of Aerospace Engineering Automation and Systems Research Institute Seoul National University Korea Republic of

ISBN: (纸本)9780936406305

This study demonstrates the feasibility of a loosely coupled LiDAR-visual-inertial positioning system for the approach phase of a lunar landing sequence through an experiment on a scaled lunar terrain model. A digital elevation model obtained in advance by lunar reconnaissance orbiters is generally of lower resolution than the point clouds obtained by a lander-mounted LiDAR (light detection and ranging) when close to the ground. The resolution mismatch gets worse as the lander approaches the ground. To solve the problems of initial registration with a sparse map and the deepening of resolution mismatch, we have developed a LiDAR-based absolute positioning system using an ensemble Kalman filter. However, since a flash LiDAR, commonly used in lander navigation, is available at relatively very low altitudes, an additional navigation system that can be used before reaching the altitude is required. Therefore, this paper proposes a loosely coupled system that combines the LiDAR-based positioning system with a visual-inertial odometry system to alleviate error drift. This paper also conducts experiments using a 1:200 scale terrain model to confirm the feasibility of the proposed approach. The experimental results based on the actual lunar digital elevation model, NASA/JAXA SLDEM2015 (60 m-resolution), show that the proposed system is capable of positioning with an error of 5.21 m (1-s). © 2022 Proceedings of the International Technical Meeting of The institute of Navigation, ITM. All rights reserved.

关键词： Digital instruments

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Haptic-Aided Navigation Vehicle: Enhancing Obstacle Detection in Blind Spots and Transparent Object Scenarios

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Journal of Shanghai Jiaotong University (Science) 2025年 1-9页

作者： Li, Mingwang Li, Xinde Zhang, Zhentong Zhang, Zeyu Zhao, Haoming School of Software Southeast University Suzhou Jiangsu215000 China School of Automation Southeast University Nanjing210018 China School of Cyber Science and Engineering Southeast University Nanjing211102 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education Nanjing214135 China Nanjing Center for Applied Mathematics Nanjing211135 China Southeast University Shenzhen Research Institute Shenzhen Guangdong518063 China

As autonomous mobile robots are increasingly deployed in complex environments, traditional vision sensors and LiDAR encounter considerable limitations, particularly in detecting obstacles in blind spots or transparent objects. To address the issue of blind spots, we design a specialized haptic sensing structure and develop the haptic-aided navigation vehicle (HANV). This system integrates haptic sensors and LiDAR to deliver comprehensive perception, significantly enhancing close-range obstacle detection in areas that are typically beyond the range of conventional sensors. To tackle the challenge of transparent obstacles, which are often undetected by both vision and LiDAR sensors, we employ a fusion of haptic sensors and LiDAR. The haptic system provides physical contact feedback, ensuring reliable detection of transparent obstacles such as glass, while LiDAR offers long-range sensing capabilities. This combination enables HANV to navigate effectively in environments with transparent obstacles, overcoming the limitations of traditional sensing systems. Experiment results indicate that the proposed haptic and LiDAR integration substantially improves obstacle detection in both blind spots and environments with transparent obstacles. HANV achieves high success rates, minimal collisions, and efficient obstacle avoidance, particularly excelling in complex, confined spaces where conventional systems prove inadequate. These findings emphasize the efficacy of our approach in enhancing navigation performance in dynamic and challenging environments. (Figure presented.) © Shanghai Jiao Tong University 2025.

关键词： Mobile robots

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Analysis of Climatic Conditions and the Values of Touch and Step Voltages on the Shock Currents Occurring During the Operation of the Grounding Grid in the LVDC Network 5

Analysis of Climatic Conditions and the Values of Touch and ...

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5th IEEE International Conference on Modern Electrical and Energy System, MEES 2023

作者： Sikora, Roman Markiewicz, Przemyslaw Korzeniewska, Ewa Nikitina, Alyona Somka, Oleksandr Nozhenko, Viktoriia Lodz University of Technology Institute of Electrical Power Engineering Lodz Poland Lodz University of Technology Institute of Electrical Engineering Systems Lodz Poland Kremenchuk Mykhailo Ostrohradskyi National University Department of Automation and Information Systems Kremenchuk Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Department of Electrical Engineering Kremenchuk Ukraine

ISBN: (纸本)9798350359787

The development and increasing use of renewable energy sources has revived interest in low-voltage direct current (LVDC) networks. Their use reduces the number of used inverters, which affects both the cost of construction and operation, the efficiency of transmission and distribution of electricity, the elimination of problems related to reactive power and the reduction of the negative impact on the quality of electricity. The use of LVDC networks also has an impact on electric shock protection. The basic element of protection against electric shock, as in the case of alternating current networks, are earth electrodes. The pathophysiological effects of the shock current flow are affected by such factors as: earth electrode resistance, potential distribution on the ground surface - determining the values of step and touch voltages, and the path of flow through the human body. The paper presents an analysis of the impact of climate on the values of shock currents in the case of short-circuit current flowing to the earthing in the LVDC network. © 2023 IEEE.

关键词： Electric power transmission

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Fast Finite-Time Tracking control Strategy for Permanent Magnet Synchronous Motor

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IEEE Access 2023年 11卷 132312-132323页

作者： Liu, Yu-Tang Li, Jiao-Jiao Sun, Zong-Yao Chen, Chih-Chiang School of Mathematics Science Liaocheng University Liaocheng252000 China Institute of Automation Qufu Normal University Qufu273165 China Department of Systems and Naval Mechatronic Engineering National Cheng Kung University Tainan70101 Taiwan

This paper aims to study the fast finite-time (FFT) tracking control strategy for permanent magnet synchronous motor (PMSM). The design of FFT tracking controller for PMSM faces many difficulties due to the coupling between current and rotational speed, as well as the nonlinear characteristics of motor torque. To overcome the difficulty, we utilize a novel coordinate transformation to establish the mathematical models of PMSM in α − β coordinate system and d − q coordinate system. Based on the obtained PMSM model, novel FFT tracking control strategy including FFT direct axis current tracking controller and FFT position tracking controller is developed. Superior to the existing control schemes of PMSM, the new FFT tracking control strategy ensures that the states error of the system can be quickly stabilized in a limited time with faster convergence speed and stronger anti-interference. Finally, the effectiveness of the proposed control method is illustrated by simulation results. 2023 The Authors. This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

关键词： Tracking (position)

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The Immense Impact of Reverse Edges on Large Hierarchical Networks

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engineering 2024年第5期36卷 240-249页

作者： Haosen Cao Bin-Bin Hu Xiaoyu Mo Duxin Chen Jianxi Gao Ye Yuan Guanrong Chen Tamás Vicsek Xiaohong Guan Hai-Tao Zhang MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems State Key Laboratory of Intelligent Manufacturing Equipment and TechnologySchool of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore Jiangsu Key Laboratory of Networked Collective Intelligence School of MathematicsSoutheast UniversityNanjing 210096China Department of Computer Science Rensselaer Polytechnic InstituteTroyNY 12180USA Department of Electronic Engineering City University of Hong KongHong Kong 999077China Department of Biological Physics Eötvös UniversityBudapest 1117Hungary MOE Key Laboratory for Intelligent Networks and Network Security School of Automation Science and EngineeringXi’an Jiaotong UniversityXi’an 710049China

Hierarchical networks are frequently encountered in animal groups,gene networks,and artificial engineering systems such as multiple robots,unmanned vehicle systems,smart grids,wind farm networks,and so *** structure of a large directed hierarchical network is often strongly influenced by reverse edges from lower-to higher-level nodes,such as lagging birds’howl in a flock or the opinions of lowerlevel individuals feeding back to higher-level ones in a social *** study reveals that,for most large-scale real hierarchical networks,the majority of the reverse edges do not affect the synchronization process of the entire network;the synchronization process is influenced only by a small part of these reverse edges along specific *** surprisingly,a single effective reverse edge can slow down the synchronization of a huge hierarchical network by over 60%.The effect of such edges depends not on the network size but only on the average in-degree of the involved *** overwhelming majority of active reverse edges turn out to have some kind of“bunching”effect on the information flows of hierarchical networks,which slows down synchronization *** finding refines the current understanding of the role of reverse edges in many natural,social,and engineering hierarchical networks,which might be beneficial for precisely tuning the synchronization rhythms of these *** study also proposes an effective way to attack a hierarchical network by adding a malicious reverse edge to it and provides some guidance for protecting a network by screening out the specific small proportion of vulnerable nodes.

关键词： Synchronizability Large hierarchical networks Reverse edges Information flows Complex networks

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A Pre-Distillation Strategy for Object Detection Task 9

A Pre-Distillation Strategy for Object Detection Task

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9th International Conference on control, Decision and Information Technologies, CoDIT 2023

作者： Lin, Yu-Chen Chen, Wen-Hui Chen, Hung-Cheng Wang, Chia-Hung Feng Chia University Department of Automatic Control Engineering Taichung Taiwan Graduate Institute of Automation Technology National Taipei University of Technology Taipei Taiwan

ISBN: (纸本)9798350311402

In this paper, we propose a novel model compression method based on knowledge distillation, that is called Pre-Distillation, for object detection task. First, the full model is 'squashed' (by the instructor) to generate key information (a.k.a. attention mechanism), and it is also referred to as dataset condensation;it is then provided for lightweight model learning (for the student). Students can study and preview the course through lightweight models with key information that is compressed by the instructor. Additionally, students can also be able to improve their efficiency in learning and acquire integrative understanding of the subject through supplementary materials in which the they will be observing hidden information within the ground truth. This paper is verified and quantified by the public databases of Pascal VOC. The results show that the previewing distillation strategy developed in this paper has higher accuracy. The accuracy of ResNet-101 is 74.02%, which is 2.28% higher than that of the un-distilled 71.74%. The method in this paper is an algorithm-based performance improvement method. Our proposed scheme is a high-efficiency distillation strategy that does not need to change the network architecture and also can avoid the occurrence of model overfitting and speed up model training. © 2023 IEEE.

关键词： Distillation

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Digital CEOs in Digital Enterprises:Automating,Augmenting,and Parallel in Metaverse/CPSS/TAOs

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 820-823页

作者： Juanjuan Li Rui Qin Sangtian Guan Xiao Xue Peng Zhu Fei-Yue Wang with State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the College of Intelligence and Computing Tianjin UniversityTianjin 300072China School of Economics and Management Nanjing University of Science and TechnologyNanjing 210094China the State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China

BIG models or foundation models are rapidly emerging as a key force in advancing intelligent societies[1]–[3]Their significance stems not only from their exceptional ability to process complex data and simulate advan... 详细信息

关键词： exceptional Auto advancing

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A Multi-Player Potential Game Approach for Sensor Network Localization with Noisy Measurements 63

A Multi-Player Potential Game Approach for Sensor Network Lo...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Xu, Gehui Chen, Guanpu Fidan, Baris Hong, Yiguang Qi, Hongsheng Parisini, Thomas Johansson, Karl H. Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm100 44 Sweden University of Waterloo Department of Mechanical and Mechatronics Engineering WaterlooONN2L 3G1 Canada Tongji University Department of Control Science and Engineering shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China University of Chinese Academy of Sciences School of Mathematical Sciences Beijing China Aalborg University Department of Electronic Systems Denmark Imperial College London Department of Electrical and Electronic Engineering LondonSW7 2AZ United Kingdom University of Trieste Department of Engineering and Architecture Italy

ISBN: (纸本)9798350316339

Sensor network localization (SNL) is a challenging problem due to its inherent non-convexity and the effects of noise in inter-node ranging measurements and anchor node position. We formulate a non-convex SNL problem as a multiplayer non-convex potential game and investigate the existence and uniqueness of a Nash equilibrium (NE) in both the ideal setting without measurement noise and the practical setting with measurement noise. We first show that the NE exists and is unique in the noiseless case, and corresponds to the precise network localization. Then, we study the SNL for the case with errors affecting the anchor node position and the inter-node distance measurements. Specifically, we establish that in case these errors are sufficiently small, the NE exists and is unique. It is shown that the NE is an approximate solution to the SNL problem, and that the position errors can be quantified accordingly. Based on these findings, we apply the results to case studies involving only inter-node distance measurement errors and only anchor position information inaccuracies. © 2024 IEEE.

关键词： Nash equilibrium

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