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Discrete-time Formation control With Attitude Alignment: A Geometric Approach under Ergodic Products

IEEE Transactions on control of Network Systems 2025年

作者： Li, Zhen Tang, Yang Zhang, Wenbing Fan, Yongqing Huang, Tingwen Xi-an University of Posts and Telecommunications School of Automation Xian710121 China East China University of Science and Technology Key Laboratory of Smart Manufacturing in Energy Chemical Process Shanghai200237 China Yangzhou University Department of Mathematics Jiangsu225002 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China

Assuming agents possess sensing capabilities and dynamics relative to their body coordinate frames, this paper addresses a displacement-based strategy for discrete-time formation control through attitude synchronization. Unlike the Eulerian approximation, the first challenge lies in developing discrete-time models that capture both position and attitude motions, thereby complementing existing continuous-time systems with a discretized version. Then, two leader-following control protocols are designed, incorporating a jointly-connected topology to relax the connectivity requirements. The analysis of these systems often relies on the Lyapunov function, the existence of which may be hard to guarantee. Consequently, geometric properties of several polytopes are explored under the dynamic topologies and time-varying parameters. By extending the ergodicity results to leader-following scenarios, these properties are characterized as positively invariant sets. This invariance, which is independent of the existence of the Lyapunov function or the solvability of its associated criteria, provides a beneficial tool for analyzing time-variant systems. Utilizing this invariance and some mathematical techniques, the desired formation shape can be achieved in the cases where the attitudes of the followers synchronize with the leader. Finally, a numerical simulation validates the results. © 2014 IEEE.

关键词： Lyapunov functions

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On Complexity Reduction in a Variable Terminal Set Setpoint-Tracking MPC Scheme

On Complexity Reduction in a Variable Terminal Set Setpoint-...

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IEEE Conference on Decision and control

作者： Bogdan Gheorghe Florin Stoican Ionela Prodan Faculty of Automation Control and Computer Science University Politehnica of Bucharest Romania Univ. Grenoble Alpes Grenoble INP LCIS Valence France Institute of Engineering and Management Univ. Grenoble Alpes

We applied and adapted the linear encodings from [1] to the feasible-reference tracking model predictive control (MPC) formulation from [2] to reduce its computational cost. The improvements come from avoiding to explicitly use the vertex-based representation of the variable terminal set in testing its inclusion in the constraint set. We considered both polytopic and zonotopic formulations. For the later we have also proposed a positive invariant (PI) zonotopic approximation of the maximal PI set.

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Open and Closed Source Models for LLM-Generated Metaheuristics Solving Engineering Optimization Problem 28th

Open and Closed Source Models for LLM-Generated Metaheuris...

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28th European Conference on Applications of Evolutionary Computation, EvoApplications 2025, held as part of EvoStar 2025

作者： Senkerik, Roman Viktorin, Adam Kadavy, Tomas Kovac, Jozef Janku, Peter Pekar, Libor Guzowski, Hubert Smolka, Maciej Byrski, Aleksander Pluhacek, Michal A.I.Lab Faculty of Applied Informatics Tomas Bata University Zlin Czech Republic Department of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University Zlin Czech Republic Faculty of Computer Science AGH University of Krakow Krakow Poland Center of Excellence in Artificial Intelligence AGH University of Krakow Krakow Poland

ISBN: (纸本)9783031900648

This paper explores the applicability of generative AI (genAI), specifically Large Language Models (LLMs), for the automatic generation and configuration of metaheuristic algorithms to address a real-world engineering problem: the optimal parameter estimation of time-delay systems in interconnected heating-cooling loops. The study introduces a pioneering workflow and iterative architecture with feedback within the emerging field of genAI-driven optimization for real optimization problems, eliminating the need for manually crafted or modified algorithms. This automated system empowers domain experts in engineering to solve complex optimization problems with minimal knowledge of optimization algorithms, lowering the barrier to entry for sophisticated algorithm use. We demonstrate how LLMs can generate effective optimizers under conditions like connstrained optimization problems where the solution lies near the boundaries of the search space. Four state-of-the-art LLMs (closed and open-sourced) have been selected for experiments. These are GPT-4o, GPT-4o mini, Claude Sonnet 3.5 and Llama 3.1. All studied LLMs generated metaheuristics that outperformed the initialization baseline optimization method (Random Search and CMA-ES). Notably, the Claude Sonnet 3.5 model generated a metaheuristic with the best mean results, almost matching the performance of the tuned state-of-the-art DISH algorithm, as an example of adaptive Differential Evolution. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Time of arrival

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A Parallel and Asynchronous Blob Shape Descriptor Implemented in CMOS Technology

A Parallel and Asynchronous Blob Shape Descriptor Implemente...

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International Conference on Microelectronics, MIEL

作者： P. Bogacki M. Długosz T. Talaśka R. Długosz Aptiv Services Poland Kraków Poland Institute of Telecommunications Faculty of Computer Science Electronics and Telecommunications AGH University of Science and Technology Kraków Poland Faculty of Control Robotics and Electrical Engineering Institute of Automation and Robotics Division of Signal Processing and Electronic Systems Poznan University of Technology Poznan Poland Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz University of Science and Technology Bydgoszcz Poland

The paper presents a family of novel light blob shape descriptors for use in selected active safety algorithms used in Advanced Driver Assistance Systems (ADAS). One of the motivations was to obtain a descriptor that would ensure low computational complexity. This makes it easy to implement both in software and hardware. One assumption is that the location of the center of a given light spot is approximately known. The principle of its operation is then to count white pixels in selected directions, starting from this central point. A key issue here is an efficient way of determining indexes of particular pixels belonging to the image patch, as well as the location of points representing places where the white area turns into black. In the case of a hardware implementation, this can be done using a parallel circuit operating in asynchronous mode, without the need for a control clock.

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HabiCrowd: A High Performance Simulator for Crowd-Aware Visual Navigation

HabiCrowd: A High Performance Simulator for Crowd-Aware Visu...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： An Vuong Toan Nguyen Minh Nhat Vu Baoru Huang H.T.T Binh Thieu Vo Anh Nguyen FPT Software AI Center Vietnam Automation & Control Institute TU Wien Austria Austrian Institute of Technology (AIT) Austria Imperial College London UK Hanoi University of Science and Technology Vietnam Faculty of Mathematics and Statistics TDTU Vietnam Department of Computer Science University of Liverpool UK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Visual navigation, a foundational aspect of Embodied AI (E-AI) and robotics has been extensively studied in the past few years. While many 3D simulators have been introduced for the visual navigation tasks, scarcely works have combined human dynamics, creating the gap between simulation and real-world applications. Furthermore, current 3D simulators incorporating human dynamics have several limitations, particularly in terms of computational efficiency, which is a promise of modern simulators. To overcome these issues, we introduce HabiCrowd, the new standard benchmark for crowd-aware visual navigation that includes a crowd dynamics model with diverse human settings into photorealistic environments. Empirical evaluations demonstrate that our proposed human dynamics model achieves state-of-the-art performance in collision avoidance while exhibiting superior computational efficiency compared to its counterparts. We leverage HabiCrowd to conduct several comprehensive studies on crowd-aware visual navigation tasks and human-robot interactions. The source code and data can be found at https://***/.

关键词： Visualization Three-dimensional displays Navigation Computational modeling Source coding Human-robot interaction Computational efficiency Collision avoidance Standards Intelligent robots

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DeepRicci: Self-supervised Graph Structure-Feature Co-Refinement for Alleviating Over-squashing

arXiv

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arXiv 2024年

作者： Sun, Li Huang, Zhenhao Wu, Hua Ye, Junda Peng, Hao Yu, Zhengtao Yu, Philip S. School of Control and Computer Engineering North China Electric Power University Beijing102206 China School of Computer Science Beijing University of Posts and Telecommunications Beijing100876 China State Key Laboratory of Software Development Environment Beihang University Beijing100191 China Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China Department of Computer Science University of Illinois ChicagoIL United States

Graph Neural Networks (GNNs) have shown great power for learning and mining on graphs, and Graph Structure Learning (GSL) plays an important role in boosting GNNs with a refined graph. In the literature, most GSL solutions either primarily focus on structure refinement with task-specific supervision (i.e., node classification), or overlook the inherent weakness of GNNs themselves (e.g., over-squashing), resulting in suboptimal performance despite sophisticated designs. In light of these limitations, we propose to study self-supervised graph structure-feature co-refinement for effectively alleviating the issue of over-squashing in typical GNNs. In this paper, we take a fundamentally different perspective of the Ricci curvature in Riemannian geometry, in which we encounter the challenges of modeling, utilizing and computing Ricci curvature. To tackle these challenges, we present a self-supervised Riemannian model, DeepRicci. Specifically, we introduce a latent Riemannian space of heterogeneous curvatures to model various Ricci curvatures, and propose a gyrovector feature mapping to utilize Ricci curvature for typical GNNs. Thereafter, we refine node features by geometric contrastive learning among different geometric views, and simultaneously refine graph structure by backward Ricci flow based on a novel formulation of differentiable Ricci curvature. Finally, extensive experiments on public datasets show the superiority of DeepRicci, and the connection between backward Ricci flow and over-squashing. Codes of our work are given in https://***/RiemanGraph/. © 2024, CC BY-NC-SA.

关键词： Graph neural networks

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UGNA-VPR: A Novel Training Paradigm for Visual Place Recognition Based on Uncertainty-Guided NeRF Augmentation

arXiv

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arXiv 2025年

作者： Shen, Yehui Zhang, Lei Li, Qingqiu Zhao, Xiongwei Wang, Yue Lu, Huimin Chen, Xieyuanli College of Intelligence Science and Technology National University of Defense Technology China Faculty of Robot Science and Engineering Northeastern University China School of Electronic and Information Engineering Harbin Institute of Technology Shenzhen China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University China SIASUN Robot& Automation Co. Ltd China School of Computer Science Fudan University China

Visual place recognition (VPR) is crucial for robots to identify previously visited locations, playing an important role in autonomous navigation in both indoor and outdoor environments. However, most existing VPR datasets are limited to single-viewpoint scenarios, leading to reduced recognition accuracy, particularly in multi-directional driving or feature-sparse scenes. Moreover, obtaining additional data to mitigate these limitations is often expensive. This paper introduces a novel training paradigm to improve the performance of existing VPR networks by enhancing multi-view diversity within current datasets through uncertainty estimation and NeRF-based data augmentation. Specifically, we initially train NeRF using the existing VPR dataset. Then, our devised self-supervised uncertainty estimation network identifies places with high uncertainty. The poses of these uncertain places are input into NeRF to generate new synthetic observations for further training of VPR networks. Additionally, we propose an improved storage method for efficient organization of augmented and original training data. We conducted extensive experiments on three datasets and tested three different VPR backbone networks. The results demonstrate that our proposed training paradigm significantly improves VPR performance by fully utilizing existing data, outperforming other training approaches. We further validated the effectiveness of our approach on self-recorded indoor and outdoor datasets, consistently demonstrating superior results. Our dataset and code have been released at https://***/nubot-nudt/UGNA-VPR. Copyright © 2025, The Authors. All rights reserved.

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Efficient Time-Delay System Optimization with Auto-Configured Metaheuristics

Efficient Time-Delay System Optimization with Auto-Configure...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Roman Senkerik Aleksander Byrski Hubert Guzowski Peter Janku Tomas Kadavy Zuzana Kominkova Oplatkova Radek Matusu Michal Pluhacek Libor Pekar Maciej Smolka Adam Viktorin Department of Informatics and Artificial Intelligence A.I. Lab Faculty of Applied Informatics Tomas Bata University in Zlin Czech Republic Department of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University in Zlin Czech Republic Institute of Computer Science AGH University of Science and Technology Krakow Poland

This paper presents an experimental study that compares the performance of four selected metaheuristic algorithms for optimizing a time delay system model. Time delay system models are complex and challenging to optimize due to their inherent characteristics, such as non-linearity, multi-modality, and constraints. The study includes an explanation of the choice and core functionality of the selected algorithms, which are both baseline and state-of-the-art variants of self-organizing migrating algorithm (SOMA), state-of-the-art variant from the Success-History-based Adaptive Differential Evolution family of algorithms, with emphasis on diverse search (DISH algorithm), and Covariance Matrix Adaptation Evolution Strategy (CMA-ES) algorithm. The hyperparameters of the metaheuristic algorithms were set using the iRace automatic algorithm configuration framework. The paper emphasizes the importance of metaheuristic algorithms in control engineering for time-delay systems to develop more effective and efficient control strategies and precise model identifications. The experimental results highlight the effectiveness of the state-of-the-art algorithms with specific adaptive mechanisms like population organization process, diverse search and adaptation mechanisms ensuring a gradual transition from exploration to exploitation. Overall, this study contributes to understanding the challenges and advantages of using metaheuristic algorithms in control engineering for time delay systems. The results provide valuable insights into the performance of modern metaheuristic algorithms and can help guide the selection of appropriate adaptive mechanisms of metaheuristics.

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Language-Conditioned Affordance-Pose Detection in 3D Point Clouds

arXiv

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arXiv 2023年

作者： Nguyen, Toan Vu, Minh Nhat Huang, Baoru Van Vo, Tuan Truong, Vy Le, Ngan Vo, Thieu Le, Bac Nguyen, Anh FPT Software AI Center Viet Nam Automation & Control Institute TU Wien Vienna Austria Imperial College London United Kingdom Department of Computer Science & Computer Engineering University of Arkansas United States Faculty of Mathematics and Statistics Ton Duc Thang University Ho Chi Minh City Viet Nam Department of Computer Science University of Science Viet Nam Department of Computer Science University of Liverpool United Kingdom

Affordance detection and pose estimation are of great importance in many robotic applications. Their combination helps the robot gain an enhanced manipulation capability, in which the generated pose can facilitate the corresponding affordance task. Previous methods for affodance-pose joint learning are limited to a predefined set of affordances, thus limiting the adaptability of robots in real-world environments. In this paper, we propose a new method for language-conditioned affordance-pose joint learning in 3D point clouds. Given a 3D point cloud object, our method detects the affordance region and generates appropriate 6-DoF poses for any unconstrained affordance label. Our method consists of an open-vocabulary affordance detection branch and a language-guided diffusion model that generates 6-DoF poses based on the affordance text. We also introduce a new high-quality dataset for the task of language-driven affordance-pose joint learning. Intensive experimental results demonstrate that our proposed method works effectively on a wide range of open-vocabulary affordances and outperforms other baselines by a large margin. In addition, we illustrate the usefulness of our method in real-world robotic applications. Our code and dataset are publicly available at https://***. © 2023, CC BY-NC-SA.

关键词： Robotics

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DeepRicci: Self-supervised Graph Structure-Feature Co-Refinement for Alleviating Over-squashing

DeepRicci: Self-supervised Graph Structure-Feature Co-Refine...

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IEEE International Conference on Data Mining (ICDM)

作者： Li Sun Zhenhao Huang Hua Wu Junda Ye Hao Peng Zhengtao Yu Philip S. Yu School of Control and Computer Engineering North China Electric Power University Beijing China School of Computer Science Beijing University of Posts and Telecommunications Beijing China State Key Laboratory of Software Development Environment Beihang University Beijing China Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming China Department of Computer Science University of Illinois at Chicago IL USA

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