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第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

Autonomous Exploration of Unknown 3D Environments Using a Fr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Iván D. Changoluisa Caiza Ana Milas Marco A. Montes Grova Francisco Javier Pérez-Grau Tamara Petrovic University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Advanced Center for Aerospace Technologies (CATEC) Aerospace Technology Park of Andalusia Seville Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment.

关键词： Three-dimensional displays Video on demand Navigation Warehousing Buildings Inspection Web sites

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A Task Offloading Method for Smart Instruments Based on Edge Computing 7

A Task Offloading Method for Smart Instruments Based on Edge...

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7th International Conference on Computer and Information Processing Technology, ISCIPT 2022

作者： Liu, Yang Zhang, Tianshi Xiao, Jinchao Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110000 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

The development of edge computing technology has enabled the promotion of traditional industrial instruments to smart instruments with collaborative working capabilities. Smart instruments are widely distributed in industrial production sites and can monitor working conditions in real time. Implementing multi-instruments collaborative computing on the edge side will help improve the responsiveness of industrial systems and reduce instrument maintenance costs. This paper proposes a task offloading method for smart instruments based on edge computing. Firstly, the instrument capability is evaluated based on the characteristics of the smart instrument. Then, the task scheduling of smart instruments is optimized based on Lyapunov algorithm. Finally the simulation verification is carried out. The experimental results show that the algorithm in this paper has a significant effect on improving computing power and reducing resource occupancy. © 2022 Copyright for this paper by its authors.

关键词： Edge computing

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Gait-based Emotion Recognition Using Spatial Temporal Graph Convolutional Networks 4

Gait-based Emotion Recognition Using Spatial Temporal Graph ...

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4th International Conference on Computer Information Science and Artificial Intelligence, CISAI 2021

作者： Yu, Shiyi Li, Xinde Southeast University Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Nanjing China Guangdong Intelligent Robotics Institute Dongguan China

ISBN: (纸本)9781665406925

Most of the existing gait emotion recognition methods use spatial convolution or temporal convolution separately. Without integrating these two dimensions, it is easy to loss valid information for emotion analysis. In order to solve this problem, we propose a supervised learning method using Spatial Temporal Graph Convolutional Networks (ST-GCN) to classify emotions into positive, neutral and negative patterns. In addition, we made a new gait dataset called EmoGait3d including 742 real gait skeleton sequences extracted from videos, also annotated with emotion labels. According to the experiment results, our method achieves the accuracy of 92.2% which outperforms current state-of-art algorithms for gait emotion recognition. © 2021 IEEE.

关键词： Speech recognition

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A Point-to-distribution Degeneracy Detection Factor for LiDAR SLAM using Local Geometric Models

A Point-to-distribution Degeneracy Detection Factor for LiDA...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sehua Ji Weinan Chen Zerong Su Yisheng Guan Jiehao Li Hong Zhang Haifei Zhu Biomimetic and Intelligent Robotics Lab (BIRL) School of Electromechanical Engineer Guangdong University of Technology Guangzhou China JT-Innovation (Guangdong) Intelligent Technology Co. Ltd. Guangdong Key Laboratory of Modern Control Technology Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangzhou China College of Engineering South China Agricultural University China Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Limited by the working principles, LiDAR-SLAM systems suffer from the degeneration phenomenon in environments such as long corridors and tunnels, due to the lack of sufficient geometric features for frame-to-frame matching. The accuracy and sensitivity of existing degeneracy detection methods need to be further improved. In this paper, we propose a novel method for degeneracy detection using local geometric models based on point-to-distribution matching. To obtain an accurate description of local geometric models, an adaptive adjustment of voxel segmentation according to the point cloud distribution and density is designed. The codes of the proposed method is open-source and available at https://***/jisehua/***. Experiments with public datasets and self-build robots were conducted to evaluate the methods. The results exhibit that our proposed method achieves higher accuracy than the other existing approaches. Applying our proposed method is beneficial for improving the robustness of the LiDAR-SLAM systems.

关键词： Point cloud compression Accuracy Simultaneous localization and mapping Sensitivity Laser radar Geometric modeling Noise

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Robust Finite-Time Containment of Networked Heterogeneous Nonlinear Systems with Intermittent Measurement Only

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IEEE Transactions on Network Science and Engineering 2025年

作者： Tian, Biao Zhang, Hao Cui, Peiyu Wang, Zhuping Yan, Huaicheng Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Tongji University College of Electronic and Information Engineering Department of Control Science and Engineering Shanghai201804 China Ministry of Education Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems China East China University of Science and Technology School of Information Science and Engineering Shanghai200237 China

The robust finite-time containment problem of fully heterogeneous multiagent systems with uncertainties is often challenging, especially when only intermittent output measurement is used. To address the issue posed by the nonidentical system dynamics of multiple leaders, which makes the traditional distributed estimator form for the convex hull inapplicable, a distributed finite-time estimator is constructed for each follower to extract the system matrices and states of leaders. Then, in the output-triggering setting, a finite-time extended state observer driven by intermittent output measurement is developed to reconstruct the uncertainties and unmeasurable states of followers. Meanwhile, the non-continuous output measurement will lead to the differentiation of virtual control laws undefined. To solve this issue, a filtering compensation scheme-based finitetime controller via the backstepping technique is developed for nonlinear followers, ensuring practical finite-time stability (PFTS) of the closed-loop system. It is shown that the proposed algorithm steers each follower into the preset convex combination spanned by the positions of multiple leaders. The capability of the exploited control protocol is verified through simulations and experiments. 2013 IEEE.

关键词： Backstepping

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Asymptotic Trajectory Tracking of Stratospheric Airships Based on RISE controllers Under External Uncertainties

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Liu, Can Li, Baoquan Dai, Fengzhi Shi, Wuxi Zhang, Xuebo Tiangong University School of Control Science and Engineering Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems Tianjin300387 China Tianjin University of Science and Technology College of Electronic Information and Automation Tianjin300222 China Nankai University Institute of Robotics and Automatic Information Systems Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China

For a stratospheric airship under internal and external uncertainties, controller strategies with robust integral sign of the error (RISE) are proposed for asymptotic trajectory tracking control. Specifically, a fully connected neural network (FCNN) is constructed with adaptive weight updating to estimate internal uncertainties of the airship system. Then, a self-tuning RISE controller is designed to track trajectories with compensating external disturbance, which enables gain adjustment in realtime according to system feedback. Based on Lyapunov technique and LaSalle-Yoshizawa corollary extension, system stability is strictly analyzed, and asymptotic convergence performance is obtained for trajectory tracking by the designed controller. Moreover, a RISE controller is designed with fixed gain matrices for the airship based on classic control strategies, and asymptotic tracking is also proved. Finally, numerical simulations are conducted with spiral and hovering control to verify performance of the proposed strategies. © 1965-2011 IEEE.

关键词： Lyapunov methods

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Visual Object Tracking across Diverse Data Modalities: A Review

arXiv

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arXiv 2024年

作者： Wang, Mengmeng Ma, Teli Xin, Shuo Hou, Xiaojun Xing, Jiazheng Dai, Guang Wang, Jingdong Liu, Yong The Laboratory of Advanced Perception on Robotics and Intelligent Learning College of Control Science and Engineering Zhejiang University Zhejiang Hangzhou310027 China State Grid Shanxi Electric Power Company Limited China Baidu China

Visual Object Tracking (VOT) is an attractive and significant research area in computer vision, which aims to recognize and track specific targets in video sequences where the target objects are arbitrary and class-agnostic. The VOT technology could be applied in various scenarios, processing data of diverse modalities such as RGB, thermal infrared and point cloud. Besides, since no one sensor could handle all the dynamic and varying environments, multi-modal VOT is also investigated. This paper presents a comprehensive survey of the recent progress of both single-modal and multi-modal VOT, especially the deep learning methods. Specifically, we first review three types of mainstream single-modal VOT, including RGB, thermal infrared and point cloud tracking. In particular, we conclude four widely-used single-modal frameworks, abstracting their schemas and categorizing the existing inheritors. Then we summarize four kinds of multi-modal VOT, including RGB-Depth, RGB-Thermal, RGB-LiDAR and RGB-Language. Moreover, the comparison results in plenty of VOT benchmarks of the discussed modalities are presented. Finally, we provide recommendations and insightful observations, inspiring the future development of this fast-growing literature. © 2024, CC BY.

关键词： Data handling

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Microanalysis of a ductile iron by microchip laser-induced breakdown spectroscopy

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Plasma Science and Technology 2021年第10期23卷 179-185页

作者： Wei Wang Lanxiang Sun Peng Zhang Liming Zheng Lifeng Qi Jinchi Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People’s Republic of China Key Laboratory of Networked Control System Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169People’s Republic of China University of Chinese Academy of Sciences Beijing 100049People's Republic of China

Laser beams with ns pulse width are generally employed as an excitation source in the process of detecting inclusions and elemental segregation on a workpiece surface by microanalysis of the laser-induced breakdown *** addition,the ablation crater interval of laser sampling on the sample surface is generally 20μm or *** is difficult to detect the morphology of inclusions smaller than 50μm in diameter and the micro-segregation of ***,in this work,when the laser ablation crater is 10μm and the sampling resolution of the laser on the sample surface is 5μm,the morphology and distribution of spherical inclusions(20–60μm)in ductile iron can be detected according to the difference of the Fe spectrum on the Fe matrix and the spheroidal ***,the distribution of micro-segregation of Mg and Ti elements in ductile iron was also studied.

关键词： micro-laser-induced breakdown spectroscopy micro-LIBS mapping inclusion segregation ductile iron

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Improved Cascade Mask RCNN Single Character Detection Algorithm for Cast Pipe 4

Improved Cascade Mask RCNN Single Character Detection Algori...

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4th International Conference on Big Data and Artificial Intelligence and Software Engineering, ICBASE 2023

作者： Xu, Fuli Wang, Yu Jiang, Yan Wang, Huaizhen Cui, Yong Tao, Ye Wang, Yisheng Zhang, Qi Shenyang University of Technology School of Software Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China Shanghai Ballsnow Intelligent Technology Co. Ltd Shanghai China Shenyang Zhongke Microcyber Technology Co. Ltd Shenyang China

ISBN: (纸本)9798350329490

Due to the interference of blurry background, character occlusion, and low background contrast in the Cast Pipe character images, the detection accuracy and real-time performance cannot meet the requirements of industrial scenes. To address these issues, this paper presents an improvement based on the Cascade Mask RCNN. Firstly, the Channel Attention Mechanism Module (Squeeze-and-Excitation, SE) is embedded into the ResNet structure. By constructing a bottleneck structure with two fully connected layers, the normalized weights are applied to each channel feature to enhance the network representation ability. Secondly, a bottom-up structure is introduced after the Feature Pyramid Networks (FPN) to transmit the strong localization information from lower-level features to higher-level semantic features. Thirdly, an adaptive pooling layer is added to allocate the candidate regions generated by the Region Proposal Network (RPN) to different scale feature maps. Additionally, skip connections are introduced between the bottom-level features and the highest-level features of each stage to reduce model parameters while retaining global representation capabilities. The improved algorithm is tested on a cast pipe dataset, achieving an average detection accuracy (mAP) of 98.7%, which is 2.7% higher than that of Cascade Mask RCNN. The accuracy indicates that the improved performance is superior to the original algorithm. © 2023 IEEE.

关键词： Semantics

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