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Neural-based prescribed-time consensus control for multiagent systems via dynamic memory event-triggered mechanism

Science China(Technological Sciences) 2025年第3期68卷 217-227页

作者： Xiaohong ZHENG Hui MA Qi ZHOU Hongyi LI School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Controland Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative ControlGuangdong University of TechnologyGuangzhou510006China School of Mathematics and Statistics Guangdong University of TechnologyGuangzhou510006China College of Electronic and Information Engineering and the Chongqing Key Laboratory of Generic Technology and System of Service Robots Southwest UniversityChongqing400715China

This work investigates the implementation of distributed prescribed-time neural network(NN)control for nonlinear multiagent systems(MASs)using a dynamic memory event-triggered mechanism(DMETM).First,it introduces a composite learning technique in NN *** method leverages the prediction error within the NN update law to enhance the accuracy of the unknown nonlinearity ***,by introducing a time-varying transformation,the study establishes a distributed prescribed-time control *** notable feature of this algorithm is its ability to predetermine the convergence time independently of initial conditions or control ***,the DMETM is established to reduce the actuation frequency of the *** the conventional memoryless dynamic event-triggered mechanism,the DMETM incorporates a memory term to further increase triggering *** a distributed estimator for the leader,the DMETM-based NN prescribed-time controller is designed in a fully distributed manner,which guarantees that all signals in the closed-loop system remain bounded within the prescribed ***,simulation results are presented to validate the effectiveness of the proposed algorithm.

关键词： consensus control composite learning control dynamic memory event-triggered control prescribed-time control multiagent systems(MASs)

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FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

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IEEE robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-theart VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2016 IEEE.

关键词： Micro air vehicle (MAV)

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Optimal TOA-Based Sensor-Anchor-Source Geometries and Estimation Bounds for Simultaneous Sensor and Source Localization

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IEEE Transactions on Signal Processing 2025年 73卷 1727-1743页

作者： Xu, Sheng Zhu, Bing Wu, Xinyu Doğançay, Kutluyil Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China University of South Australia UniSA STEM Mawson LakesSA5095 Australia

This paper focuses on optimal time-of-arrival (TOA) sensor placement for simultaneous sensor and source localization (SSSL) with the help of selected anchors at known positions in the environment. Firstly, the problem of sensor placement for SSSL is analyzed and formulated as an optimization task based on the approximate Cramér-Rao lower bound (CRLB), which is an approximation of the intractable true CRLB. Secondly, by minimizing the trace of the approximate CRLB, the optimal accuracy bounds for the estimated sensor and source positions are derived, which can serve as a useful evaluation metric for other studies. Thirdly, a systematic solution including both the analytical and algebraic methods is proposed to obtain the optimal sensor-anchor-source geometries for achieving the approximate bounds simultaneously. Significantly, the analytical sensor placement approach can quickly offer an optimal placement for some special cases, and the algebraic algorithm can provide a (sub-)optimal solution numerically for the general case. Furthermore, theoretical guidance for placing anchors in the localization area is provided. Finally, the theoretical findings and proposed algorithms are verified by computer simulations and experimental studies, demonstrating that the optimized sensor positions yield accurate performance. The results in this paper can be utilized as an evaluation tool and a performance improvement guidance for practical SSSL problems. © 1991-2012 IEEE.

关键词： Time of arrival

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Evetac Meets Sparse Probabilistic Spiking Neural Network: Enhancing Snap-Fit Recognition Efficiency and Performance

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IEEE robotics and Automation Letters 2025年第6期10卷 5353-5360页

作者： Fang, Senlin Ding, Haoran Liu, Yangjun Liu, Jiashu Zhang, Yupo Li, Yilin Kong, Hoiio Yi, Zhengkun Faculty of Data Science City University of Macau 999078 China Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen518055 China City University of Hong Kong Hong Kong University of Macau 999078 China Shenzhen Institute of Advanced Technology Shenzhen518055 China City University of Macau 999078 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China City University of Macau Faculty of Data Science 999078 China Chinese Academy of Sciences Key Laboratory of Biomedical Imaging Science and System Shenzhen518055 China

Snap-fit peg-in-hole assembly is common in industrial robotics, particularly for 3 C electronics, where fast and accurate tactile recognition is crucial for protecting fragile components. Event-based optical sensors, such as Evetac, are well-suited for this task due to their high sparsity and sensitivity in detecting small, rapid force changes. However, existing research often converts event data into dense images and processing them with dense methods, leading to higher computational complexity. In this letter, we propose a Sparse Probabilistic Spiking Neural Network (SPSNN) that utilizes sparse convolutions to extract features from the event data, avoiding computations on non-zero cells. We introduce the Forward and Backward Propagation Through Probability (FBPTP) method, which enables simultaneous gradient computation across all time steps, eliminating the need for the step-by-step traversal required by traditional Forward and Backward Propagation Through Time (FBPTT). Additionally, the Temporal Weight Prediction (TWP) method dynamically allocates weights for different time outputs, enhancing recognition performance with minimal impact on model efficiency. We integrate the Evetac sensor compactly into our robotic system and collected two datasets, named Tactile Event Ethernet (TacEve-Eth) and Tactile Event Type-C (TacEve-TC), corresponding to cantilever and annular snap-fit structures. Experiments show that the SPSNN achieves the superior trade-off between recognition performance and efficiency compared to other widely used methods, achieving the highest average recognition performance while reducing inference time by over 90% compared to FBPTT-based dense SNN baselines. © 2016 IEEE.

关键词： Robotic assembly

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Irrelevant Locomotion Intention Detection for Myoelectric Assistive Lower Limb Robot Control

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 655-665页

作者： Song, Xiaoyu Liu, Jiaqing Pan, Heng Rao, Haotian Wang, Can Wu, Xinyu Southern University of Science and Technology Shenzhen518055 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China

In this study, we propose a robust myoelectric intention recognition framework to recognize human locomotion mode and detect irrelevant locomotion intention. The framework is integrated into the control system of the lower limb exoskeleton robot for experimental validation. Most conventional electromyography(EMG) intention detection methods aim to accurately detect the target motion intentions but ignore the possible effects of irrelevant intentions. In traditional action intention recognition strategies, most researchers did not consider entering irrelevant action intentions into the model during training. Therefore, when using a classification model, if irrelevant action intentions are input, the model will still recognize it as a type of target action intention. That can lead to incorrect recognition results, which will cause the robot to perform wrong movements and pose a safety risk to the wearer. To detect and reject irrelevant motion intentions, we first used the dual-purpose autoencoder-guided temporal convolution network (DA-TCN) to obtain discriminative features of the surface EMG signal. Autoencoders (AE)/Variable Autoencoders (VAE) are then trained for each of the seven deep features of the target motion intention. In addition, irrelevant motion intentions are detected according to the value of their reconstruction error. The recall rate of this method for the detection of irrelevant motion intentions exceeds 99% and the accuracy rate exceeds 99%.At the same time, we replaced the TCN with the LSTM model and compared the performance of the two after adding irrelevant motion discrimination. We collected data on seven goals and three unrelated motor intentions from seven experimenters for testing and completed an online experimental validation. The motion recognition accuracy of all the experimenters can be maintained above 86%. © 2018 IEEE.

关键词： Limbs Legged locomotion Exoskeletons Robots Image color analysis Convolution Stairs Training Feature extraction Autoencoders

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AMA-Net: Adaptive Masking Attention Network for Agricultural Crop Classification From UAV Images

IEEE Transactions on AgriFood Electronics

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IEEE Transactions on AgriFood Electronics 2025年第1期3卷 246-253页

作者： Wang, Xu Wang, Deyi He, Zhaoshui Lin, Zhijie Xie, Shengli Guangdong Mechanical and Electrical Polytechnic School of Electronics and Communication Guangzhou510550 China Guangdong University of Technology School of Automation Guangzhou510006 China Key Laboratory for IoT Intelligent Information Processing and System Integration of Ministry of Education Guangzhou510006 China Guangdong Provincial Key Laboratory of Intelligent Systems and Optimization Integration Guangzhou510006 China

Agriculture crop classification is helpful for agricultural production. However, it is challenging to classify crops from the agriculture image suffering from these problems: 1) Crops are often masked in complex backgrounds;2) There is high similarity between crop categories. To address these problems, an adaptive masking attention network (AMA-Net) is proposed for agriculture crop identification from natural images, where the adaptive masking (AM) module is developed to distinguish the crop from the complex background by selectively eliminating redundant information of feature maps, and the fair attention module is devised to identify similar crops between categories by modeling the fine-grained features. Experiments conducted on the benchmark show the effectiveness and superiority of the proposed AMA-Net, achieving the performance of 96.65%, 96.65%, 97.13%, and 96.72% on the accuracy, precision, recall, and F1-score, respectively, which is better than other state-of-the-art methods. © 2023 IEEE.

关键词： Crops Agriculture Accuracy Visualization Training Production Autonomous aerial vehicles Attention mechanisms Adaptive systems Support vector machines

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Toward High-Accuracy and Low-Latency Group Vehicle Trajectory Prediction With Linear UNet-Enhanced Fully Connected Spatial–Temporal Graph Neural Network

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IEEE Internet of Things Journal 2025年第9期12卷 11797-11811页

作者： Zhang, Zirui Huang, Xumin Yu, Rong Wu, Maoqiang Kang, Jiawen Xie, Shengli Guangdong University of Technology School of Automation Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education Guangdong Provincial Key Laboratory of Intelligent Systems and Optimization Integration Guangzhou510006 China South China Normal University School of Electronic Science and Engineering Foshan528225 China Guangdong University of Technology School of Automation 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China

Group vehicle trajectory prediction (GVTP) is important for analyzing the traffic states and optimizing the traffic management. However, existing studies have performance bottlenecks in the prediction accuracy and inference latency. To tackle the problems, we propose a linear UNet-enhanced fully connected spatial–temporal GNN (LUFC-STGNN) for GVTP. First, a spatial graph is constructed by integrating prior-based and data-driven methods to capture both explicit and implicit spatial interactions between the vehicles. After that, a comprehensive temporal graph is created to capture the varying strengths of temporal interactions between all vehicles throughout historical timestamps. Furthermore, a fully connected spatial–temporal graph combining the spatial and temporal graphs is introduced to extract the effective spatial–temporal interaction features of the vehicles through the graph convolution operation. Finally, a linear UNet-based temporal dependency encoder (LU-TDE) is designed to further enhance the model’s ability of capturing the potential temporal patterns in the vehicle interactions. The encoder with linear complexity explores the multiscale temporal dependencies from the spatial–temporal interaction features but also reducing the inference latency. Experiments results based on real-world datasets show that compared to state-of-the-art models, our model reduces the average root mean square error over the 5-s prediction horizon by 31% and 10% on the NGSIM and HighD datasets, while reducing the inference latency by at least 1.26 times. © 2014 IEEE.

关键词： Prediction models

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Adaptive Closed-Loop Functional Electrical Stimulation system with Visual Feedback for Enhanced Grasping in Neurological Impairments

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 678-686页

作者： Lin, Chengyu Cheng, Kong Hoi Pan, Wei Sun, Jinxin Gou, Guotao Fu, Junyun Leng, Yuquan Fu, Chenglong Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China Guilin University of Electronic Technology Guangxi Human Physiological Information Non Invasive Detection Engineering Technology Research Center School of Life and Environmental Sciences Guilin541004 China

Grasping is a critical motor skill essential for daily activities, but it is often compromised in individuals with neural impairments. Functional Electrical Stimulation (FES) has emerged as a promising intervention, utilizing electrical pulses to stimulate muscles and thereby restore impaired motor functions. However, existing closed-loop FES systems depend on pre-calibrated angles or forces specific to individual objects, which limits their practicality in dynamic, real-world environments with varying object *** paper presents a novel closed-loop FES (CLFES) system with visual feedback, designed to dynamically adjust stimulation parameters based on real-time interaction states without requiring object-specific calibration. The system employs a finite state machine to manage sequential grasp-release tasks and integrates a visual perception module for slip detection and intent recognition. The system was tested with two individuals with disabilities on five common household objects. Experimental results demonstrate significant improvements, including a 42.6% increase in success rate and a 45.9% reduction in task completion time compared to tasks performed without the system. These results underscore the system’s potential to improve daily task performance for individuals with neural impairments. © 2018 IEEE.

关键词： Visual servoing

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Relative Localizability and Localization for Multirobot systems

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IEEE Transactions on robotics 2025年 41卷 2931-2949页

作者： Chen, Liangming Liang, Chenyang Yuan, Shenghai Cao, Muqing Xie, Lihua Southern University of Science and Technology School of System Design and Intelligent Manufacturing Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore Carnegie Mellon University Robotics Institute PittsburghPA15213 United States

Inter-robot relative positions are crucial for executing various multirobot missions, such as formation maneuvering and collaborative inspection. However, the current sensing technology usually provides part of relative position information, such as inter-robot distances, bearings and angles. This prompts the study of determining inter-robot relative positions, i.e., relative localization, from these partial measurements. Based on the existing results of static networks' localizability and mobile robots' relative localization, we propose a novel concept, relative localizability to describe whether a multirobot system is relatively localizable. Given each robot's self-displacement measurements and inter-robot partial measurements in d (d ≤ 4) sampling instants, we show that a multirobot system's relative localization can be achieved in a purely algebraic and distributed manner, in which the multirobot system is said to be d-step relatively localizable. To make the results more general, we consider that the multirobot system consists of landmarks, leaders, and followers, and that the inter-robot measurements can be distances, bearings or angles. When robots' coordinate frames have different orientations, we show that the given local measurements can be used to determine robots' relative positions and their coordinate frames' relative orientations simultaneously. Simulations and experiments of relative localization for ground robots are conducted to validate the obtained results. © 2004-2012 IEEE.

关键词： Multipurpose robots

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