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arXiv 2024年

作者： Zhou, Panpan Li, Sirui Zhao, Benyun Wahlberg, Bo Hu, Xiaoming Department of Mathematics KTH Royal Institute of Technology Stockholm Sweden Department of Transport and System Analysis KTH Royal Institute of Technology Stockholm Sweden Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

The pursuit-evasion problem is widespread in nature, engineering, and societal applications. It is commonly observed in nature that predators often exhibit faster speeds than their prey but have less agile maneuverability. Over millions of years of evolution, animals have developed effective and efficient strategies for both pursuit and evasion. In this paper, we provide a dynamic framework for the pursuit-evasion problem of unicycle systems, drawing inspiration from nature. First, we address the scenario involving one pursuer and one evader by proposing an Alert-Turn control strategy, which consists of two efficient ingredients: a sudden turning maneuver and an alert condition for starting and maintaining the maneuver. We present and analyze the escape and capture results at two levels: a lower level of a single run and a higher level with respect to parameters’ changes. In addition, we provide a theorem with sufficient conditions for capture. The Alert-Turn strategy is then extended to more complex scenarios involving multiple pursuers and evaders by integrating aggregation control laws and a target-changing mechanism. By adjusting a ‘selfish parameter’, the aggregation control commands produce various escape patterns of evaders: cooperative mode, selfish mode, as well as their combinations. The influence of the selfish parameter is quantified, and the effects of the number of pursuers and the target-changing mechanism are explored from a statistical perspective. Our findings align closely with observations in nature. Finally, the proposed control strategies are validated through numerical simulations that replicate some chasing behaviors of animals in nature. Copyright © 2024, The Authors. All rights reserved.

关键词： Animals

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Adaptive Estimation for Environmental Monitoring Using an Autonomous Underwater Vehicle

Adaptive Estimation for Environmental Monitoring Using an Au...

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IEEE Conference on Decision and control

作者： Ziwen Yang Joana Fonseca Shanying Zhu Cailian Chen Xinping Guan Karl H. Johansson Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Digital Futures

This paper considers the problem of monitoring and adaptively estimating an environmental field, such as temperature or salinity, using an autonomous underwater vehicle (AUV). The AUV moves in the field and persistently measures environmental scalars and its position in its local coordinate frame. The environmental scalars are approximately linearly distributed over the region of interest, and an adaptive estimator is designed to estimate the gradient. By orthogonal decomposition of the velocity of the AUV, a linear time-varying system is equivalently constructed, and the sufficient conditions on the motion of the AUV are established, under which the global exponential stability of the estimation error system is rigorously proved. Furthermore, an estimate of the exponential convergence rate is given, and a reference trajectory that maximizes the estimate of the convergence rate is obtained for the AUV to track. Numerical examples verify the stability and efficiency of the system.

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Local to Global: A Distributed Quantum Approximate Optimization Algorithm for Pseudo-Boolean Optimization Problems

arXiv

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arXiv 2023年

作者： Yue, Bo Xue, Shibei Pan, Yu Jiang, Min Dong, Daoyi The Department of Automation Shanghai Jiao Tong University the Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou310027 China School of Electronics and Information Engineering Soochow University Suzhou215006 China The School of Engineering Australian National University CanberraACT2601 Australia

With the rapid advancement of quantum computing, Quantum Approximate Optimization Algorithm (QAOA) is considered as a promising candidate to demonstrate quantum supremacy, which exponentially solves a class of Quadratic Unconstrained Binary Optimization (QUBO) problems. However, limited qubit availability and restricted coherence time challenge QAOA to solve large-scale pseudo-Boolean problems on currently available Near-term Intermediate Scale Quantum (NISQ) devices. In this paper, we propose a distributed QAOA which can solve a general pseudo-Boolean problem by converting it to a simplified Ising model. Different from existing distributed QAOAs’ assuming that local solutions are part of a global one, which is not often the case, we introduce community detection using Louvian algorithm to partition the graph where subgraphs are further compressed by community representation and merged into a higher level subgraph. Recursively and backwards, local solutions of lower level subgraphs are updated by heuristics from solutions of higher level subgraphs. Compared with existing methods, our algorithm incorporates global heuristics into local solutions such that our algorithm is proven to achieve a higher approximation ratio and outperforms across different graph configurations. Also, ablation studies validate the effectiveness of each component in our method. Copyright © 2023, The Authors. All rights reserved.

关键词： Ising model

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controlling the depth of a gliding robotic dolphin using dual motion control modes

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Science China(Information Sciences) 2020年第9期63卷 217-230页

作者： Jian WANG Zhengxing WU Min TAN Junzhi YU State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESAT College of Engineering Peking University

This paper investigates the performance of the dual mode, namely flipper mode and central pattern generator(CPG) mode, for controlling the depth of a gliding robotic dolphin. Subsequent to considering the errors in dynamic models, we propose a depth control system that combines the line-of-sight(LOS)method with an adaptive control approach(ACA) to deal with uncertainties in the model parameters. First,we establish a full-state dynamic model to conduct simulations and optimize the parameters used in later aquatic experiments. Then, we use the LOS method to transform the control target from the depth to the pitch angle and employ the ACA to calculate the control signal. In particular, we optimize the ACA’s control parameters using simulations based on our dynamic model. Finally, our simulated and experimental results demonstrate not only that we can successfully control the robotic dolphin’s depth, but also that its performance was better than that of the CPG-based control, thus indicating that we can achieve three-dimensional motion by combining flipper-based and CPG-based control. The results of this study suggest valuable ideas for practical applications of gliding robotic dolphins.

关键词： gliding robotic dolphin depth control dual motion adaptive control approach

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Sensing metric-based hybrid underlay/overlay transmission framework for CR-IoT networks for smart city applications

Sensing metric-based hybrid underlay/overlay transmission fr...

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7th IET Smart Cities Symposium (SCS 2023)

作者： Indu Bala Maad M. Mijwil Mostafa Abotaleb El-Sayed M. El-kenawy Abdelhameed Ibrahim School of Electrical and Electronics Engineering Lovely Professional University Punjab India Computer Techniques Engineering Department Baghdad College of Economic Sciences University Baghdad Iraq Department of System Programming South Ural State University Chelyabinsk Russia Department of Communications and Electronics Delta Higher Institute of Engineering and Technology Egypt Computer Engineering and Control Systems Department Faculty of Engineering Mansoura University Mansoura Egypt

With the increasing number of IoT devices, there is a growing need for bandwidth to support their communication. Unfortunately, there is a shortage of available bandwidth due to preallocated bands for various services. To address this issue, Cognitive Internet of Things (CR-IoT) enables devices to optimize their efficiency and enhance their communication capabilities by intelligently accessing available bandwidth. This is achieved through the use of soft sensing metrics, where devices continuously monitor the RF environment and transmit data opportunistically in overlay mode if a free channel is detected, or in underlay mode if not. In this paper, a soft sensing metric based hybrid transmission framework is proposed for CR-IoT devices to meet the data rate requirement for the smart city applications. The efficacy of this approach is demonstrated through simulation results.

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Combined control system for Structural and Parametric Uncertain Non-Affine Plants with Delay in control

Combined Control System for Structural and Parametric Uncert...

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2020 International Multi-Conference on Industrial engineering and Modern Technologies, FarEastCon 2020

作者： Eremin, E.L. Nikiforova, L.V. Shelenok, E.A. Amur State University Information and Control Systems Department Blagoveshchensk Russia Automation and System Engineering Department Khabarovsk Russia

ISBN: (纸本)9781728169514

Under conditions of priori parametric and structural uncertainties and influence of external noise, the synthesis of combined control law for class of non-affine single-channel plants with scalar output in the presence of control delay is considered. To compensate the negative effect of known delay in control the predictor-compensator is connected in parallel with the plant in the system. The synthesis of structure of the combined regulator is based on use of the hyperstability criterion. Estimates of unmeasured state variables are obtained with the help of filter corrector;therefore, the synthesized system is L-dissipative. To confirm the operability of the obtained system and ensure the required quality of its transient processes, it is performed simulation modeling of the synthesized system. The results of simulation showed that the developed system satisfies the required properties and provides the desired quality of the non-affine plant functioning in the presence of control delay and uncontrolled external disturbances. © 2020 IEEE.

关键词： Quality control

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Error-state Kalman Filtering with Linearized State Constraints

TechRxiv

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TechRxiv 2023年

作者： Do, Hoang Viet Jung, Jae Hyung Park, Chan Gook Song, Jin Woo The Intelligent Navigation and Control Systems Laboratory Department of Convergence Engineering for Intelligent Drone School of Intelligent Mechatronics Engineering Sejong University Seoul05006 Korea Republic of The Department of Aerospace Engineering Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of The Navigation and Electronic System Laboratory Department of Aerospace Engineering Institute of Advanced Aerospace Technology Seoul National University Seoul08826 Korea Republic of

In recent years, the error-state Kalman filter (ErKF) has been extensively employed across various applications, including but not limited to robotics, aerospace, and localization. However, incorporating constraints into the ErKF framework when state constraint is necessary has remained a challenging task due to its intrinsic properties. This paper explores all possible ways to achieve this goal in the context of the estimate projection method. In particular, the constraint can be enforced before or after the ErKF’s correction step. We approach the problem from a mathematical perspective by deriving analytical solutions and discussing their statistical properties. We prove that the two mentioned methods are statistically identical for a linear system with linear constraints. Conversely, the filter’s behavior remains uncertain in the presence of linearized constraints. However, we provide a special case of the nonlinear constraint, wherein the results of the linear case remain valid. To support our theorem and verify the filter’s performance when the assumptions are invalidated, we present two Monte Carlo simulations under the increasing initialization error and the constraint’s incompleteness. The simulation results clearly confirm our insights and lead to the conclusion that constraining the error-state after the correction may offer superior outcomes compared to its competitor. © 2023, CC BY.

关键词： Linearization

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NeRF in Robotics: A Survey

arXiv

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arXiv 2024年

作者： Wang, Guangming Pan, Lei Peng, Songyou Liu, Shaohui Xu, Chenfeng Miao, Yanzi Zhan, Wei Tomizuka, Masayoshi Pollefeys, Marc Wang, Hesheng The University of Cambridge ETH Zurich Switzerland The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China ETH Zurich Zurich Switzerland Mechanical Systems Control Laboratory University of California Berkeley United States

Meticulous 3D environment representations have been a longstanding goal in computer vision and robotics fields. The recent emergence of neural implicit representations has introduced radical innovation to this field as implicit representations enable numerous capabilities. Among these, the Neural Radiance Field (NeRF) has sparked a trend because of the huge representational advantages, such as simplified mathematical models, compact environment storage, and continuous scene representations. Apart from computer vision, NeRF has also shown tremendous potential in the field of robotics. Thus, we create this survey to provide a comprehensive understanding of NeRF in the field of robotics. By exploring the advantages and limitations of NeRF, as well as its current applications and future potential, we hope to shed light on this promising area of research. Our survey is divided into two main sections: The Application of NeRF in Robotics and The Advance of NeRF in Robotics, from the perspective of how NeRF enters the field of robotics. In the first section, we introduce and analyze some works that have been or could be used in the field of robotics from the perception and interaction perspectives. In the second section, we show some works related to improving NeRF's own properties, which are essential for deploying NeRF in the field of robotics. In the discussion section of the review, we summarize the existing challenges and provide some valuable future research directions for reference. © 2024, CC BY-NC-ND.

关键词： Robotics

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Development of a UAV-based system for Technical Diagnostics of Overhead Power Lines

Development of a UAV-based System for Technical Diagnostics ...

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International Conference on Computational Problems of Electrical engineering (CPEE)

作者： Oleksandr Kozlovskyi Dmitro Trushakov Serhiy Rendzinyak Vasyl Korud Department of Electrical Systems and Energy Management Central Ukrainian National Technical University Kropyvnytskyi Ukraine Department of Automation and Control in Technical Systems Central Ukrainian National Technical University Kropyvnytskyi Ukraine Faculty of Electronics and Computer Technologies Ivan Franko National University of Lviv Lviv Ukraine Institute of Power Engineering and Control System Lviv Polytechnic National University Lviv Ukraine

The problems associated with the operation of overhead power lines and ways of improving control over their condition with the help of UAVs are considered. A structural diagram of the system of technical diagnostics of overhead lines based on UAVs was developed, for which the necessary diagnostic parameters were selected according to informative criteria. An analysis of types of UAVs was carried out in order to determine their suitability and efficiency of use for diagnosing the condition of overhead lines.

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Multi-microgrid Energy Management systems: Architecture, Communication, and Scheduling Strategies

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Journal of Modern Power systems and Clean Energy 2021年第3期9卷 463-476页

作者： Bin Zhou Jianting Zou Chi Yung Chung Huaizhi Wang Nian Liu Nikolai Voropai Daosen Xu the College of Electrical and Information Engineering Hunan UniversityChangsha 410082China the Department of Electrical and Computer Engineering University of SaskatchewanSaskatoonSK S7N5A9Canada the College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China the State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijing 102206China the Melentiev Energy Systems Institute of Siberian Branch of the Russian Academy of Sciences Irkutsk 664033Russia

The increasing penetration of various distributed and renewable energy resources at the consumption premises,along with the advanced metering,control and communication technologies,promotes a transition on the structure of traditional distribution systems towards cyber-physical multi-microgrids(MMGs).The networked MMG system is an interconnected cluster of distributed generators,energy storage as well as controllable loads in a distribution *** its operation complexity can be decomposed to decrease the burdens of communi-cation and control with a decentralized ***,the multi-microgrid energy management system(MIVIGEIV1S)plays a significant role in improving energy efficiency,power quality and reliability of distribution systems,especially in enhancing system resiliency during contingencies.A comprehensive overview on typical functionalities and architectures of MMGEMS is ***,the emerging communication technologies for information monitoring and interaction among MMG clusters are ***,various energy scheduling and control strategies of MMGs for interactive energy trading,multi-energy management,and resilient operations are thoroughly analyzed and ***,some challenges with great importance in the future research are presented.

关键词： Energy management system(EMS) microgrid communication renewable energy multi-energy system

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