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Decentralized Strategy for Cooperative Multi-Robot Exploration and Mapping

IFAC-PapersOnLine 2020年第2期53卷 9682-9687页

作者： Ana Batinović Juraj Oršulić Tamara Petrović Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS) 10000 Zagreb Croatia

This work presents a novel approach to autonomous decentralized multi-robot frontier exploration and mapping of an unknown area. A mobile robot team simultaneously explores the environment, discovers frontier points (points on the border between explored and unexplored space), and shares information in order to become dispersed throughout the environment. During the exploration, information exchanged between the mobile robots is limited to data containing mobile robot positions and current mobile robot target points. The main goal of the approach is to allocate the mobile robots to target frontier points in a way which minimizes the overall exploration time. Moreover, a mobile robot team at the same time creates a common map of the environment. The proposed strategy has been implemented in a simulation environment and compared with a state-of-the-art exploration strategy. Simulation results demonstrate the advantages of the proposed decentralized multi-robot strategy.

关键词： Mobile Robot Multi-Robot System Frontier Points Target Point Decentralized Strategy Exploration Mapping

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High-Gain Like Observer Design for Nonlinear Systems Applied to Vehicle Motion Estimation

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IFAC-PapersOnLine 2023年第2期56卷 5673-5678页

作者： H. Bessafa C. Delattre Z. Belkhatir A. Zemouche R. Rajamani Université de Lorraine CRAN CNRS UMR 7039 54400 Cosnes et Romain France School of Electronics and Computer Science University of Southampton University Road Southampton SO17 1BJ UK Faculty of Computing Engineering and Media De Montfort University The Gateway Leicester LE1 9BH UK Laboratory for Innovations in Sensing Estimation and Control Department of Mechanical Engineering University of Minnesota Minneapolis USA

This work investigates the problem of state estimation for nonlinear triangular systems having additional output measurements. The main objective of this paper is to propose observer design strategies that account for the available additional information, which is difficult to consider using the standard high-gain observer methodology. To deal with this challenge, we propose a novel observer design method to handle the additional output measurements. This method can be thought of as an extension of the standard high-gain observer by introducing a weighting matrix as a tuning parameter, which uses both the high-gain methodology and the LPV/LMI technique. The proposed approach was applied to a nonlinear longitudinal dynamic model that uses extra measurement information, in addition to the measured longitudinal position of the vehicle.

关键词： Observer design High-gain observer LPV/LMI observer Autonomous Vehicles Longitudinal dynamic model

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The Use of Various Neurostimulators in Therapy of Neurodegenerative Disorders – A Survey

The Use of Various Neurostimulators in Therapy of Neurodegen...

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Progress in Applied Electrical Engineering (PAEE)

作者： Aleksandra Kawala-Sterniuk Agata Gajos Mateusz Pawłowski Witold Libionka Władysław Piotr Duch Bartosz Pańczyszak Monika Stomal-Słowińska Michał Podpora Waldemar Bauer Adam Sudoł Mariusz Pelc Jarosław Zygarlicki Piotr Sterniuk Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland Department of Neurosurgery "Vital Medic" Hospital Kluczbork Poland Department of Extrapyramidal Diseases Medical University of Łódź Łódź Poland Faculty of Health Sciences Wroclaw Medical University Wrocław Poland Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland Faculty of Natural Sciences and Technology University of Opole Opole Poland School Of Computing and Mathematical Sciences University of Greenwich London United Kindgom Center for Technology Transfer Opole University of Technology Opole Poland

ISBN: (数字)9781665455152

ISBN: (纸本)9781665455169

The use of neurostimulators in the treatment and therapy of neurodegenerative diseases is an alternative to pharmacological treatment. Unfortunately, most of these disorders are incurable, however, the use of neurostimulators can delay the onset of symptoms, the course of the disease and significantly improve the quality of life. Treatment with the use of neurostimulators also allows you to avoid side effects which usually accompany pharmacotherapy, or in order to replace it when prescribed medication is not working properly or not working at all. This paper focuses mainly on vagus nerve and deep brain stimulation.

关键词： Electrical engineering Deep brain stimulation Medical treatment Delays Diseases

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Models of Battle Dynamics in Strategic Computer Games

Models of Battle Dynamics in Strategic Computer Games

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International Conference on Management of Large-Scale System Development (MLSD)

作者： Ivan Dmitrievich Laryushin Dmitrii Sergeevich Pashin Yaroslav Alekseevich Koltochenko Felix Ivanovich Ereshko Plasma Physics Department Gaponov-Grekhov Institute of Applied Physics RAS Nizhny Novgorod Russia Faculty of Physics National Research Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Mathematical Modeling of Complex Systems and Optimization Moscow Institute of Physics and Technology Moscow Russia Department of Information and Computing Systems Federal Research Center "Computer Science and Control" of the RAS Moscow Russia

A set of new models that describe the dynamics of battles in strategic computer games is presented. These models not only have descriptive functions, but also allow solving problems of optimizing army control under given conditions, as well as calculating the most efficient composition of the army for the planned operation within a computer game.

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Editorial:Special Topic on Federated Learning for IoT and Edge computing

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ZTE Communications 2022年第3期20卷 1-2页

作者： PAN Yi CUI Laizhong CAI Zhipeng LI Wei Faculty of Computer Science and Control Engineering at Shenzhen Institute of Advanced Technology Chinese Academy of SciencesChina the Academy of the United Nations Sciences and Technology Organization Ukrainian Academy of Engineering Sciences American Institute for Medical and Biological Engineering Institute of Engineering Technology the College of Computer Science and Software Engineering at Shenzhen University China Department of Computer Science and the College of Business at Georgia State University USA the Center for Distributed and High Performance Computing School of Computer ScienceThe University of Sydney the Australia-China Joint Research Center on Energy Informatics and Demand Response Technologies

Recent years have witnessed the proliferation of Internet of Things(IoT),in which billions of devices are connected to the Internet,generating an overwhelming amount of *** is challenging and infeasible to transfer an... 详细信息

关键词： cloud generating data.

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spaMGCN: a graph convolutional network with autoencoder for spatial domain identification using multi-scale adaptation

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Genome biology 2025年第1期26卷 159页

作者： Tianjiao Zhang Hongfei Zhang Zhongqian Zhao Saihong Shao Yucai Jiang Xiang Zhang Guohua Wang College of Computer and Control Engineering Northeast Forestry University Harbin 150040 China. College of Computer and Control Engineering Northeast Forestry University Harbin 150040 China. ghwang@***. Faculty of Computing Harbin Institute of Technology Harbin 150001 China. ghwang@***.

Spatial domain identification is crucial in spatial transcriptomics analysis. Existing methods excel with continuous and clustered distributions but struggle with discrete ones. We present spaMGCN, an innovative approach specifically designed for identifying spatial domains, especially in discrete tissue distributions. By integrating spatial transcriptomics and spatial epigenomic data through an autoencoder and a multi-scale adaptive graph convolutional network, spaMGCN outperforms baseline methods. Our evaluations demonstrate its effectiveness in recognizing discrete T cell zones in mouse spleens and follicular cells in human lymph nodes, as well as effectively distinguishing capsule structures from surrounding tissues.

关键词： Discrete distribution spatial domain Multi-source feature fusion Spatial domain identification Spatial multi-omics data

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Role of Agent Middleware in Teaching Distributed Systems and Agent Technologies

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Journal of computing and Information Technology 2019年第1期27卷 25-42页

作者： Badica, Costin Vidaković, Milan Ilie, Sorin Ivanović, Mirjana Vidaković, Jovana University of Craiova Department of Computers and Information Technology Romania University of Novi Sad Faculty of Technical Sciences Department of Computing and Control Serbia University of Novi Sad Faculty of Sciences Department of Mathematics and Informatics Serbia

Computer science and information communication technologies are among the fastest changing areas and it is essential to follow this world-wide trend also in education, constantly innovating and adapting curricula. In this paper, we introduce the structure, methodological aspects and educational experiences of teaching two courses on distributed systems and agent technologies at two different universities and countries. The presentation is focused on the role of agent middleware and multi-agent systems in teaching various theoretical and practical aspects of these courses. At the University of Craiova, the conclusion is that the use of agent middleware in general and of JADE platform in particular for teaching the course Distributed Systems certainly brings many advantages, but also has some limitations. At the University of Novi Sad, within the Agent Technologies course, agent middleware, initially developed as part of the research project, has been successfully used for educational purposes, too. For both courses, we present the structure, the tools, teachers' and students' experiences and joint useful conclusions and lessons learned with regard to courses delivery. ACM CCS (2012) Classification: computing methodologies → Artificial intelligence → Distributed artificial intelligence → Multi-agent systems Applied computing → Education → Interactive learning environments computing methodologies → Distributed computing methodologies → Distributed algorithms Computer systems organization → Architectures → Distributed architectures → Client-server architectures. © 2019, University of Zagreb faculty of Electrical Engineering and computing. All rights reserved.

关键词： Middleware

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When measurements fail: using an interactive SLAM solution to fight bad odometry

When measurements fail: using an interactive SLAM solution t...

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IEEE Instrumentation and Measurement Technology Conference

作者： Robert Milijaš Juraj Oršulić Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (数字)9781728144603

ISBN: (纸本)9781728144610

In this paper we use the underlying pose graph structure of graph SLAM to allow the user to inspect and intervene into the Simultaneous Localization and Mapping (SLAM) process. With post-processing the map by inserting custom constraints into the optimization problem, the user can improve the quality of the map obtained as the final SLAM result. We refer to this inspection and intervention process as interactive SLAM. The mathematical background, which allows such interventions, is laid out, and a software implementation is used to improve the quality of a map created at the faculty of Electrical Engineering and computing, University of Zagreb.

关键词： SLAM Robotics Interactive SLAM supersonic low altitude missile robotics maps software implementation ELECTRICAL ENGINEERING odometry

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Collaborative Scheduling of computing Tasks for Edge computing

Collaborative Scheduling of Computing Tasks for Edge Computi...

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2021 China Automation Congress, CAC 2021

作者： Liu, Yue Xiong, Gang Zhu, Fenghua Chen, Shichao Zhang, Liguo Liu, Xudong School of Artificial Intelligence and Automation Beijing University of Technology The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation The Cloud Computing Center Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijing China Faculty of Information and Technology Beijing University of Technology Beijing China

ISBN: (纸本)9781665426473

In the face of the rapid development of the IoT, the traditional cloud computing, while providing services for mobile intelligent devices, also brings problems such as network bandwidth occupation and communication delay. Edge computing can solve these problems to some extent. But too many offloaded tasks may result in an edge server becoming overloaded and execution delay of tasks increasing, the computing resources of idle edge devices are also not fully utilized. In order to make full use of the computing resources of idle edge devices in the local network and reduce the execution delay for computing tasks, this paper takes the average delay time for all end devices as the optimization objective and proposes an end-edge cooperative scheduling (EECS) model to schedule tasks for edge computing. The scheduling algorithm used in EECS model is improved based on MCT algorithm. We use the EdgeCloudSim to verify the EECS model and scheduling algorithm. The simulation results show that the average completion time of computing tasks in EECS model, compared with only single edge server (SEE) task computing model, can be reduced by up to three times. In addition, the system load can be balanced to a certain extent in local network. © 2021 IEEE

关键词： Edge computing

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HDiffTG: A Lightweight Hybrid Diffusion-Transformer-GCN Architecture for 3D Human Pose Estimation

arXiv

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arXiv 2025年

作者： Fu, Yajie Huang, Chaorui Li, Junwei Kong, Hui Tian, Yibin Li, Huakang Zhang, Zhiyuan College of Information Science and Electronic Engineering Zhejiang University China Faculty of Science and Technology University of Macau China College of Mechatronics and Control Engineering Shenzhen University China School of AI and Advanced Computing Xi’an Jiaotong-Liverpool University China School of Computing and Information Systems Singapore Management University Singapore

We propose HDiffTG, a novel 3D Human Pose Estimation (3DHPE) method that integrates Transformer, Graph Convolutional Network (GCN), and diffusion model into a unified framework. HDiffTG leverages the strengths of these techniques to significantly improve pose estimation accuracy and robustness while maintaining a lightweight design. The Transformer captures global spatiotemporal dependencies, the GCN models local skeletal structures, and the diffusion model provides step-by-step optimization for fine-tuning, achieving a complementary balance between global and local features. This integration enhances the model’s ability to handle pose estimation under occlusions and in complex scenarios. Furthermore, we introduce lightweight optimizations to the integrated model and refine the objective function design to reduce computational overhead without compromising performance. Evaluation results on the Human3.6M and MPI-INF-3DHP datasets demonstrate that HDiffTG achieves state-of-the-art (SOTA) performance on the MPI-INF-3DHP dataset while excelling in both accuracy and computational efficiency. Additionally, the model exhibits exceptional robustness in noisy and occluded environments. Source codes and models are available at https://***/CirceJie/HDiffTG Copyright © 2025, The Authors. All rights reserved.

关键词： Three dimensional computer graphics

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