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第三十二届中国控制会议

作者： Ming-Can Fan Hai-Tao Zhang Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology

ISBN: (纸本)9781479900305

This paper addresses the bipartite flock control problem with or without a virtual leader. Using structurally balanced signed graph theory and LaSalle’s invariance principle, we prove that the algorithm guarantees a bipartite flocking behavior. In such a collective motion, the whole group separates into two clusters, in each of which all individuals move with the same direction. Meanwhile, every pair of agents in different clusters moves with opposite directions. Moreover, all agents in the two separated clusters approach a common velocity magnitude, and collision avoidance among each cluster is ensured as well. Finally, the proposed bipartite flock control method are examined by numerical simulations. The bipartite flocking motion addressed by this paper has its references in both natural collective motions and human group behaviors such as predator-prey and panic escaping scenarios.

关键词： Flocking Multi-agent systems Signed graph Virtual leader

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Uncalibrated Path Planning in the image Space for the Fixed Camera Configuration

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Acta Automatica Sinica 2013年第6期39卷 759-769页

作者： Xin-Wu LIANG Xin-Han HUANG Min WANG Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Wuhan 430074 China

image-based visual servoing can be used to efficiently control the motion of robot manipulators. When the initial and the desired configurations are distant, however, as pointed out by many researchers, such a control approach can suffer from the convergence and stability problems due to its local properties. By specifying adequate image feature trajectories to be followed in the image, we can take advantage of the local convergence and stability of image-based visual servoing to avoid these problems. Hence, path planning in the image space has been an active research topic in robotics in recent years. However, almost all of the related results are established for the case of camera-in-hand configuration. In this paper, we propose an uncalibrated visual path planning algorithm for the case of fixed-camera configuration. This algorithm computes the trajectories of image features directly in the projective space such that they are compatible with rigid body motion. By decomposing the projective representations of the rotation and the translation into their respective canonical forms, we can easily interpolate their paths in the projective space. Then, the trajectories of image features in the image plane can be generated via projective paths. In this way, the knowledge of feature point structures and camera intrinsic parameters are not required. To validate the feasibility and performance of the proposed algorithm, simulation results based on the puma560 robot manipulator are given in this paper.

关键词： Visual servoing path planning uncalibrated camera projective space fixed-camera configuration

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Handling multi-objective in an HTN planner for emergency decision-making

Handling multi-objective in an HTN planner for emergency dec...

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IEEE Conference Anthology

作者： Minglei Li Hongwei Wang Chao Qi Dan Liu Jian Wang Zhe Wang Key Laboratory of Image Processing and Intelligent Control of Education Ministry Huazhong University of Science & Technology Wuhan China

There are many multi-objective planning problems in emergency decision-making domain. HTN planners were widely used in emergency decision-making, while they have limited ability to solve optimization, especially multi-objective optimization. Aimed to handling multi-objective in HTN planners, this paper proposes a novel method based on SHOP2, which is a domain-independent state-based forward HTN planner. The method uses a weighted vector to mirror the decision maker's performance for various objectives and an anytime search algorithm to improve the ability to find the best solution plan. Finally, a case of emergency evacuation is given to testify the effectiveness of the method.

关键词： Planning Decision making Floods Optimization Vectors Measurement Search problems

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A reentry corridor calculation method for reusable Launch Vehicles based on skipping trajectory

A reentry corridor calculation method for reusable Launch Ve...

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Chinese control Conference (CCC)

作者： Kunliang Wei Lei Liu Yongji Wang Songtao Chang Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Wuhan 430074 China

A new method to calculate the corridor of Reentry Launch Vehicles is proposed, based on their dynamic properties. The upper boundary of the corridor can be calculated by the skipping trajectories from the lower boundary of the corridor. By combination with a specific kinematic equations and a numerical simulation, the reliability and optimality of the method is analyzed. The results also show that the traditional reentry corridor estimated by quasi-equilibrium gliding conditions has its conservativeness, the reentry corridor that the new method calculated can better reflect the RLV's maneuvers abilities. Moreover, compared to the general methods, the direct and indirect methods to calculate the corridor, which are usually used to solve optimization problems, the proposed method has a smaller amount of calculation, shorter calculation time, stronger convergence, thus has stronger practicability.

关键词： Electronic mail Vehicles Trajectory Radio frequency Educational institutions Laboratories image processing

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An ant colony optimization routing algorithm for two order pickers with congestion consideration

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Computers & Industrial Engineering 2013年第1期66卷 77-85页

作者： Fangyu Chen Hongwei Wang Chao Qi Yong Xie Key Laboratory of Image Processing and Intelligent Control Institute of Systems Engineering Huazhong University of Science & Technology Hubei Wuhan 430074 People’s Republic of China

This paper develops a routing method to control the picker congestion that challenges the traditional assumption regarding the narrow-aisle order picking system. We proposes a new routing algorithm based on Ant Colony Optimization (ACO) for two order pickers (A-TOP) with congestion consideration. Using two extended dedicated heuristics with congestion consideration as reference group, a comprehensive simulation study is conducted to evaluate the effectiveness of A-TOP. The simulation proves that A-TOP achieves the shortest total picking time in most instances and performs well in dealing with the congestion. The impacts of warehouse layout, order size, and pick:walk-time ratio on A-TOP and system performance are analyzed as well. A-TOP can adapt to different warehouse configurations, meanwhile, it can be easily extended to the situation with more than two order pickers.

关键词： Routing method Order picking Ant colony optimization Congestion Warehouse management

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Event-triggered consensus of nonlinear multi-agent systems with nonlinear interconnections

Event-triggered consensus of nonlinear multi-agent systems w...

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Chinese control Conference (CCC)

作者： Xiuxia Yin Dong Yue Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan Hubei CN

This paper investigates the consensus problem for a set of nonlinear multi-agent systems with nonlinear interconnections. First, in order to reduce the communication burden in the multi-agent network, a distributed event-triggered consensus control is designed by taking into account the effect of the nonlinear interconnections. Then, based on the Lyapunov functional method and the Kronecker product technique, sufficient conditions are obtained to guarantee the consensus in the form of linear matrix inequality (LMI). Finally, a simulation example is proposed to illustrate the effectiveness of the developed theory.

关键词： Tin Multi-agent systems control design Lead Bandwidth Ear Nickel

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Adaptive event-triggered consensus for multi-agent systems with stochastic switching topologies and delays

Adaptive event-triggered consensus for multi-agent systems w...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Dong Yue Xiuxia Yin Department of Control Science and Engineering and the Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9781467351942

This paper is concerned with the consensus problem for a class of Lipschitz nonlinear agents with Markov switching topologies and time-varying delays. The distributed event-triggered consensus control with an adaptive law in adjusting the coupling weights between neighboring agents is designed, which can not only guarantee the consensus performance in the mean square sense but also reduce the communication burden since the introduction of the event-triggered communication scheme. Different from the traditional event-triggers in the existing references, the parameter of the event-trigger in this paper is adaptively adjusted by using an adaptive law. A convincing simulation example is given to illustrate the theoretical results.

关键词： multi-agent system (MAS) adaptive event-triggered control random switching topology LMI Event trigger Self tuning Interim Local Management Interface Multi-agent systems Stochastic topology Markov

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An ontology-based emergency domain knowledge model for HTN planning

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IFAC Proceedings Volumes 2013年第13期46卷 377-382页

作者： Dian Liu Hong-wei Wang Kuang-yu Liu Jian Wang Institute of Systems Engineering Huazhong University of Science and Technology P.R.China 430074 Key Laboratory of Education Ministry of Image processing and Intelligent Control Huazhong University of Science and Technology P.R. China 430074 (Tel: *** ) Key Laboratory of Education Ministry of Image processing and Intelligent Control Huazhong University of Science and Technology P.R. China 430074 (Tel: ***

Hierarchy task network (HTN) planning, as one of AI planning approaches, has been widely used in the emergency decision making for action planning in recent years, in which domain knowledge plays an important role. The special and complicated characteristics of emergency domain knowledge make it difficult to model, hindering the application of HTN planning to emergency action plan development. Though ontology modeling can get over the difficulty, existing ontology models for the emergency domain knowledge are either incomplete or not applicable for HTN planning. This paper aims at constructing emergency domain knowledge ontology applicable for HTN planner SHOP2 which can effectively support the emergency action plan development. An approach of translating an emergency domain knowledge model into a SHOP2 domain is also discussed in the paper. Finally an implementation of our work is roughly introduced.

关键词： Emergency action plan development HTN planning SHOP2 emergency domain knowledge ontology translation

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Route planning based on gradient-field quantum genetic algorithm model

Journal of Software

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Journal of Software 2013年第10期8卷 2511-2516页

作者： Sun, Yangguang Ding, Mingyue College of Computer Science South-Central University for Nationalities State Key Laboratory of Software Engineering Wuhan University Wuhan 430074 China School of Life Science and Technology 'Image Processing and Intelligence Control' Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China

A route planning method based on gradient-field quantum genetic algorithm model was presented in this paper. It introduces the gradient field of a grid map to quantum genetic algorithm model and uses quantum genetic algorithm (QGA) to optimize the cost function of route planning. By combining the quantum characteristics with the capabilities of the large diversity of the population, as well as fast convergence rate and high global searching, the optimization of route was guided and realized in our method by using the genetic operators with the essential characteristics of quantum and the gradient information of a grid map. Experimental results demonstrated that our method further effectively improves the quick convergence and capability of searching the optimal route. © 2013 ACADEMY PUBLISHER.

关键词： Cost functions

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Distributed Leader-following Swarm of Heterogeneous Multi-agent Systems *

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IFAC Proceedings Volumes 2013年第13期46卷 13-18页

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z.Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China Department of Mechanical Engineering The University of Hong Kong Hong Kong

This paper investigates distributed leader-following swarm of heterogeneous multi-agent systems. Comparing with the existing works on leader-following swarm of homogeneous multi-agent systems, this paper is much more approaching the practical situation because the agents have different dynamics. We show that the heterogeneous followers will gather with a certain error lever under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result.

关键词： Swarm Multi-agent systems Heterogeneous systems Distributed control

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