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arXiv 2025年

作者： Peron, Davide Fernandez-Ayala, Victor Nan Vlahakis, Eleftherios E. Dimarogonas, Dimos V. Department of Information Engineering University of Padova Padova35122 Italy Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm10044 Sweden

We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online coordination, dynamically adjusting plans via real-time communication. To address action delays, we introduce a synchronization mechanism ensuring coordinated task execution, leading to a multi-agent coordination and synchronization framework that is adaptable to a wide range of multi-robot applications. The software package is developed in Python and ROS2 for broad deployment. We validate our findings through lab experiments involving nine robots showing enhanced adaptability compared to previous methods. Additionally, we conduct simulations with up to ninety agents to demonstrate the reduced computational complexity and the scalability features of our work. © 2025, CC BY.

关键词： Multipurpose robots

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Study on Wearable Gaze-Based Communication System for Patients with Amyotrophic Lateral Sclerosis (ALS)

Study on Wearable Gaze-Based Communication System for Patien...

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IEEE/SICE International Symposium on System Integration

作者： Sawada Nonoka Akira Uehara Hiroaki Kawamoto Yoshiyuki Sankai Master's Program in Intelligent and Mechanical Interaction Systems University of Tsukuba Ibaraki Japan Institute of Systems and Information Engineering Center for Cybernics Research University of Tsukuba Tsukuba Ibaraki Japan

This study centers its attention on communication among ALS patients with severe symptoms, which is essential to daily life and the part that remains a difficulty. Also, communication is important to promote social participation and ability of independence. To promote social participation and improve the ability of independence without the restrictions for patients, the purpose of this study is to develop a wearable interface that enables communication based on the patient's voluntary intent, without temporal, spatial, or physical restrictions, and to confirm the feasibility of intention transmission using a new text entry algorithm. The developed interface utilized a see-through type head-mounted display (HMD) with a gaze estimation sensor to enable patients themselves to transition between cyberspace and physical space and to communicate by the system without restrictions of posture or usage environment during daily life activities. The letter selection is triggered by a change in the direction of the gaze trajectory. This method of letter selection reduces the burden on the user by avoiding the effects of dwell time and other factors associated with gazing input. The key layout for text input UI considers the characteristics of human eye movements, to minimize key selection errors and allows for quick viewpoint movement. To confirm the feasibility of the basic performance, we conducted the experiment with three able-bodied participants using the developed system and a conventional system as a comparison system, respectively. As a result, the developed system was able to input sentences in the same amount of time as the conventional system. The results show that the developed system has the basic performance of a communication interface with a new character input method based on eye movement functions. Therefore, we confirmed the feasibility of transmitting intention using a new text entry algorithm to enable communication without the restrictions.

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Sequential Cooperative Energy and Time-Optimal Lane Change Maneuvers for Highway Traffic

arXiv

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arXiv 2022年

作者： Chavez Armijos, Andres S. Chen, Rui Cassandras, Christos G. Al-Nadawi, Yasir K. Mahjoub, Hossein Nourkhiz Araki, Hidekazu The Division of Systems Engineering Center for Information and Systems Engineering Boston University BrooklineMA02446 United States Ann ArborMI48103 United States

We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the cooperating neighbors and a lateral phase where it safely changes lanes. In contrast to prior work on this problem, where the CAV "selfishly" seeks to minimize its maneuver time, we seek to ensure that the fast-lane traffic flow is minimally disrupted (through a properly defined metric) and that highway throughput is improved by optimally selecting the cooperating vehicles. We show that analytical solutions for the optimal trajectories can be derived and are guaranteed to satisfy safety constraints for all vehicles involved in the maneuver. When feasible solutions do not exist, we include a time relaxation method trading off a longer maneuver time with reduced disruption. Our analysis is also extended to multiple sequential maneuvers. Simulation results where the controllers are implemented show their effectiveness in terms of safety guarantees and up to 35% throughput improvement compared to maneuvers with no vehicle cooperation. © 2022, CC BY-NC-SA.

关键词： Autonomous vehicles

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An improved algorithm for regional cattle population counting under local optimal methods 6

An improved algorithm for regional cattle population countin...

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6th International Conference on Intelligent Control, Measurement and Signal Processing, ICMSP 2024

作者： Li, Bingxuan Fang, Jiandong Zhao, Yudong Inner Mongolia University of Technology College of Information Engineering Hohhot China Inner Mongolia Key Laboratory of Perceptive Technology and Intelligent Systems Hohhot China Inner Mongolia Autonomous Region Intelligent Agriculture and Animal Husbandry Perceptual Technology Collaborative Innovation Center Hohhot China

ISBN: (纸本)9798331516550

As a movable collateral, live cattle need to be accurately counted and recorded on a regular basis, such as their breeds, numbers and other important information. Aiming at the problems that the existing cattle number detection algorithms have leakage detection phenomenon for dense and small targets and have many parameters and large computation volume, which are not suitable to be deployed at the end of embedded devices, a CBG-YOLOv5s cattle number detection algorithm is proposed. The experimental results show that the improved model reduces the number of parameters and computation by 37.32% and 43.04%, respectively, compared with the original model YOLOv5s, and still maintains good detection accuracy. Finally, the lightened model was successfully deployed to Nvidia Jetson Nano mobile and verified by actually running on the development board. The model in this paper is able to ensure the accuracy of cattle identification, which can provide a reference for the accuracy of detecting the number of cattle in complex farming environments and under severe occlusion conditions. © 2024 IEEE.

关键词： Livestock

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Trust Recognition in Human-Robot Cooperation Using EEG

Trust Recognition in Human-Robot Cooperation Using EEG

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Caiyue Xu Changming Zhang Yanmin Zhou Zhipeng Wang Ping Lu Bin He Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Collaboration between humans and robots is becoming increasingly crucial in our daily life. In order to accomplish efficient cooperation, trust recognition is vital, empowering robots to predict human behaviors and make trust-aware decisions. Consequently, there is an urgent need for a generalized approach to recognize human-robot trust. This study addresses this need by introducing an EEG-based method for trust recognition during human-robot cooperation. A human-robot cooperation game scenario is used to stimulate various human trust levels when working with robots. To enhance recognition performance, the study proposes an EEG Vision Transformer model coupled with a 3-D spatial representation to capture the spatial information of EEG, taking into account the topological relationship among electrodes. To validate this approach, a public EEG-based human trust dataset called EEGTrust is constructed. Experimental results indicate the effectiveness of the proposed approach, achieving an accuracy of 74.99% in slice-wise cross-validation and 62.00% in trial-wise cross-validation. This outperforms baseline models in both recognition accuracy and generalization. Furthermore, an ablation study demonstrates a significant improvement in trust recognition performance of the spatial representation. The source code and EEGTrust dataset are available at https://***/CaiyueXu/EEGTrust.

关键词： Adaptation models Computer vision Solid modeling Accuracy Source coding Brain modeling Transformers

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What needs making information systems Integration successful in the case of Mergers and Acquisition

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Procedia Computer Science 2023年 219卷 619-625页

作者： Björn Johansson Fredrik Waldau Oskar Åhlström Department of Management and Engineering Division of Information Systems and Digitalisation SE-581 83 Linköping Sweden Gapgemini Stockholm Sweden SEB Stockholm Sweden

information system integration during merger and acquisition (M&A) is a critical process when organizations are joining. The integration process consisting of several crucial activities for making organizations being able to work together. Organizations need to evaluate internal and external factors in order to make the process work. In this paper we evaluated critical success factors, challenges and information systems (IS integration methods from interviews with employees in a case study to identify the most critical activities for a successful IS integration. The investigated process stretches from the introduction of the M&A to the actual integration of two organizations IT-stacks. The identified crucial activities found were top management support, organizational culture, importance of competence, internal communication, maintaining information system security, communication with end-users and managing legacy system. Evaluating these topics and creating a short and a long-term plan on how to integrate and work with these are essential to succeed with the IS integration in any M&A.

关键词： Merger acquisition information system integration information system due diligence Legacy systems Organisational culture

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A Fully Distributed Hybrid Control Framework For Non-Differentiable Multi-Agent Optimization

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1792-1800页

作者： Xia Jiang Xianlin Zeng Jian Sun Jie Chen Yue Wei the Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China IEEE the School of Electronic and Information Engineering Tongji UniversityShanghai 200082 the Peng Cheng Laboratory Shenzhen 518055China

This paper develops a fully distributed hybrid control framework for distributed constrained optimization *** individual cost functions are non-differentiable and *** on hybrid dynamical systems,we present a distributed state-dependent hybrid design to improve the transient performance of distributed primal-dual first-order optimization *** proposed framework consists of a distributed constrained continuous-time mapping in the form of a differential inclusion and a distributed discrete-time mapping triggered by the satisfaction of local jump *** the semistability theory of hybrid dynamical systems,the paper proves that the hybrid control algorithm converges to one optimal solution instead of oscillating among different *** simulations illustrate better transient performance of the proposed hybrid algorithm compared with the results of the existing continuous-time algorithms.

关键词： Distributed algorithm hybrid framework multiagent network non-differentiable optimization

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Gbps key rate passive-state-preparation continuous-variable quantum key distribution within an access-network area

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Photonics Research 2024年第7期12卷 1485-1493页

作者： FEIYU JI PENG HUANG TAO WANG XUEQIN JIANG GUIHUA ZENG State Key Laboratory of Advanced Optical Communication Systems and Networks Center for Quantum Sensing and Information ProcessingSchool of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Shanghai Research Center for Quantum Sciences Shanghai 201315China Hefei National Laboratory Hefei 230088China College of Information Science and Technology Donghua UniversityShanghai 201620China

The conventional Gaussian-modulated coherent-state quantum key distribution(QKD) protocol requires the sender to perform active modulations based on a true random number generator. Compared with it, the passive-state-preparation(PSP) continuous-variable quantum key distribution(CVQKD) equivalently performs modulations passively by exploring the intrinsic field fluctuations of a thermal source, which offers the prospect of chip integration QKD with low cost. In this paper, we propose and experimentally demonstrate a high-rate PSP-CVQKD scheme within an access-network area using high-bandwidth detectors in a continuous wave encoding and decoding way. By proposing effective methods for suppressing the noises during the PSP process and polarization multiplexing to decrease the photon leakage noises, we realize the high-intensity local oscillator transmission, thereby achieving coherent detection with high efficiency, low noise, and high bandwidth. The secure key rates over transmission distance of 5.005 km with and without consideration of the finite-size effect are 273.25 Mbps and 1.09 Gbps. The use of the PSP method boosts the asymptotic secret key rate of CVQKD to Gbps level for the first time, to our knowledge, within the range of the access network, which provides an effective and secure key distribution strategy for high-speed quantum cryptography access communication.

关键词： passive network distribution

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X-Tacformer : Spatio-tempral Attention Model for Tactile Recognition

X-Tacformer : Spatio-tempral Attention Model for Tactile Rec...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jiarui Hu Yanmin Zhou Zhipeng Wang Xin Li Yongkang Jiang Bin He Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Recently, tactile sensing has attracted great interests in robotics, especially for exploring unstructured objects. Sensor arrays play an important role in the exploration, which generates rich spatio-temporal information. In this work, we propose an efficient tactile recognition model, X-Tacformer. This model pays attention to both spatial and temporal features of tactile sequences from sensor arrays, which is verified by four public datasets, Ev-Objects, Ev-Containers, Augment8000 and BioTac-Dos. Comparative studies show that our model has resulted in a significant improvement of the recognition accuracy by 0.0223, 0.1416, 0.2735 and 0.1592 in these datasets. In order to verify its performances on dataset with rich spatio-temporal features, a self-designed dataset, ALU-Textures, was constructed with 10 fabrics from everyday textiles, aiming to extend the data collection action modes of current datasets by simulating human rubbing movements with the thumb and index fingers of an Allegro hand. Our model also demonstrates efficient salient feature learning capabilities on ALU-Textures, which is further augmented by tactile data augmentation methods.

关键词： Image recognition Accuracy Three-dimensional displays Biological system modeling Thumb Robot sensing systems Data augmentation

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Enhanced Social Cognitive Theory Dynamic Modeling and Simulation Towards Improving the Estimation of "Just-In-Time" States

Enhanced Social Cognitive Theory Dynamic Modeling and Simula...

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2022 American Control Conference, ACC 2022

作者： Mistiri, Mohamed El Rivera, Daniel E. Klasnja, Predrag Park, Junghwan Hekler, Eric Arizona State University Control Systems Engineering Laboratory School for Engineering of Matter Transport and Energy TempeAZ85287 United States University of Michigan Division of Biomedical and Health Informatics School of Information Ann ArborMI48109 United States Center for Wireless & Population Health Systems La Jolla San DiegoCA92093 United States

ISBN: (数字)9781665451963

ISBN: (纸本)9781665451963

Insufficient physical activity (PA) is commonplace in society, in spite of its significant impact on personal health and well-being. Improved interventions are clearly needed. One of the challenges faced in behavioral interventions is a lack of understanding of multi-timescale dynamics. In this paper we rely on a dynamical model of Social Cognitive Theory (SCT) to gain insights regarding a control-oriented experimental design for a behavioral intervention to improve PA. The intervention (Just Walk JITAI) is designed with the aim to better understand and estimate ideal times for intervention and support based on the concept of "just-in-time"states. An innovative input signal design strategy is used to study the just-in-time state dynamics through the use of decision rules based on conditions of need, opportunity and receptivity. Model simulations featuring within-day effects are used to assess input signal effectiveness. Scenarios for adherent and non-adherent participants are presented, with the proposed experimental design showing significant potential for reducing notification burden while providing informative data to support future system identification and control design efforts. © 2022 American Automatic Control Council.

关键词： Statistics

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