This paper investigates the pursuit-evasion problem involving one evader and multiple pursuers with limited sensing capability, where the evader tries to maximize the distance with the pursuers, while the pursuers hav...
This paper investigates the pursuit-evasion problem involving one evader and multiple pursuers with limited sensing capability, where the evader tries to maximize the distance with the pursuers, while the pursuers have different objectives based on whether they can receive the information of the evader. The subgroup of pursuers who can observe the evader(called leaders) tries to be close to the evader, and the other subgroup of pursuers(called followers) tries to synchronize with their neighbors. When the subgraph formed by all leaders is complete, sufficient conditions are given to guarantee that the pursuers capture the evader and the pursuit-evasion game composed of the evader and leaders reaches Nash equilibrium. Furthermore, for the incomplete subgraph case, the distributed observers are proposed to estimate the relative positions between the evader and all leaders. It is shown that the distributed control strategy based on the observers converges exponentially to the Nash equilibrium solution, and makes the pursuers capture the evader. Finally, simulation examples are provided to verify the effectiveness of the proposed strategies.
Map-free LiDAR localization systems accurately localize within known environments by predicting sensor position and orientation directly from raw point clouds, eliminating the need for large maps and descriptors. Howe...
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ISBN:
(数字)9798331510831
ISBN:
(纸本)9798331510848
Map-free LiDAR localization systems accurately localize within known environments by predicting sensor position and orientation directly from raw point clouds, eliminating the need for large maps and descriptors. However, their long training times hinder rapid adaptation to new environments. To address this, we propose FlashMix, which uses a frozen, scene-agnostic backbone to extract local point descriptors, aggregated with an MLP mixer to predict sensor pose. A buffer of local descriptors is used to accelerate training by orders of magnitude, combined with metric learning or contrastive loss regularization of aggregated descriptors to improve performance and convergence. We evaluate FlashMix on various LiDAR localization benchmarks, examining different regularizations and aggregators, and demonstrating its effectiveness for rapid and accurate LiDAR localization in real-world scenarios. The code is available at https://***/raktimgg/FlashMix.
作者：
Sejersen, Jonas le FevreKayacan, Erdal
Department of Electrical and Computer Engineering Aarhus University Aarhus C8000 Denmark Automatic Control Group
Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany
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The global development of electrical power and generation systems has been accelerated by regulations to reduce greenhouse gas emissions and improve ecologically friendly energy sources. For the industry, designing an...
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We measure visibility in fiber Sagnac interferometers up to 200 km using CW light. Results show visibility is backscattering-limited after 60 km. We obtain 90% visibility in 200 km fiber using a burst-patterning techn...
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The global development of electrical power and generation systems has been accelerated by regulations to reduce greenhouse gas emissions and improve ecologically friendly energy sources. For the industry, designing an...
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We measure visibility in fiber Sagnac interferometers up to 200 km using CW light. Results show visibility is backscattering-limited after 60 km. We obtain 90% visibility in 200 km fiber using a burst-patterning techn...
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Electro-optic phase modulators are commonly used for polarization and phase encoding in quantum key distribution. Here, a novel state preparation flaw which arises during high speed electro-optic phase modulation is i...
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In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of t...
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Incorporating Connected and Automated Vehicles (CAVs) into urban traffic networks presents opportunities and challenges for traffic management systems. This paper aims to develop an integrated routing and traffic sign...
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