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Curiosity-based Robot Navigation under Uncertainty in Crowded Environments

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arXiv 2021年

作者： Cai, Kuanqi Chen, Weinan Wang, Chaoqun Zhang, Hong Meng, Max Q.-H. Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China School of Electro-mechanical Engineering Guangdong University of Technology China School of control science and Engineering Shandong University Shandong China Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Shenzhen Research Institute of The Chinese University of Hong Kong Shenzhen518057 China

Mobile robots have become more and more popular in large-scale and crowded environments, such as airports, shopping malls, etc. However, due to sparse landmarks and crowd noise, localization in this environment is a great challenge. Furthermore, it is unreliable for the robot to navigate safely in crowds while considering human comfort. Thus, how to navigate safely with localization precision in that environment is a critical problem. To solve this problem, we proposed a curiosity-based framework that can find an effective path with the consideration of human comfort and crowds, localization uncertainty, and the cost-to-go to the target. Three parts are involved in the proposed framework: the distance assessment module, the Curiosity for Positive Content (CPC), namely information-rich areas, and the Curiosity for Negative Content (CNC), namely crowded areas. CPC is introduced when the real-time localization uncertainty evaluation is not satisfied. This factor is predicted through the propagation of uncertainty along the candidate trajectory to provoke the robot to approach localization-referenced landmarks. The Human Comfort and Crowd Density Map (HCCDM) based on the Gaussian Mixture Model (GMM) is established to calculate CNC, which drives the robot to bypass the crowd and consider human comfort. The evaluation is conducted in a series of large-scale and crowded environments. The results show that our method can find a feasible path that can consider the localization uncertainty while simultaneously avoiding the crowded area. Copyright © 2021, The Authors. All rights reserved.

关键词： Motion planning

State Estimation for Integrated Energy Systems: Motivations, Advances, and Future Work

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IEEE Transactions on Power Systems 2024年

作者： Zhao, Junbo Srivastava, Ankur Guo, Ye Cetenovic, Dragan Lin, Yuzhang Levi, Victor Yin, Guanxiong Huang, Manyun Zhang, Tingting Li, Zhigang Chen, Yanbo Exposito, Antonio G. Zhang, Wen Zheng, Weiye Chakrabarti, Saikat Li, Yang Sharma, Ankush Kamwa, Innocent Guo, Qinglai Terzija, Vladimir Mili, Lamine University of Connecticut Department of Electrical and Computer Engineering StorrsCT06269 United States Tsinghua University Tsinghua-Berkeley Shenzhen Institute Shenzhen518055 China The University of Manchester Department of Eee ManchesterM13 9PL United Kingdom University of Kragujevac Faculty of Technical Sciences Čačak Čačak32000 Serbia New York University Department of Electrical and Computer Engineering NY11201 United States Tsinghua University Department of Electrical Engineering Beijing100084 China Hohai University College of Energy and Electrical Engineering Nanjing210098 China Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Jinan250061 China The Chinese University of Hong Kong-Shenzhen School of Science and Engineering Shenzhen518172 China North China Electric Power University School of Electrical and Electronic Engineering Beijing102206 China University of Sevilla Spain Sevilla41092 Spain South China University of Technology School of Electrical Power Engineering Guangzhou510641 China Indian Institute of Technology Kanpur Department of Electrical Engineering Kanpur208016 India Northeast Electric Power University School of Electrical Engineering Jilin132012 China Laval University Department of Electrical and Computer Engineering QuebecQCG1V 0A6 Canada Tsinghua University State Key Laboratory of Power Systems Department of Electrical Engineering Beijing100084 China Newcastle University School of Engineering Newcastle upon TyneNE1 7RU United Kingdom Virginia Polytechnic Institute and State University Bradley Department of Electrical and Computer Engineering Falls ChurchVA22043 United States

This paper summarizes the technical activities of a three-year-long IEEE Task Force (TF) on State Estimation (SE) for Integrated Energy Systems (IES). It presents the formal definition and characteristics of IES, along with the comprehensive discussion on Electric Power Systems (EPS) model, and static and dynamic models associated with heating and natural gas systems. The paper also identifies the barriers of SE for IES, such as estimation modeling, observability analysis, and measurement requirements, together with addressing multi-scale dynamics. An extensive comparative analysis between Integrated Energy Systems-State Estimation (IES-SE) and more established Electric Power System-State Estimation (EPS-SE) is presented. The paper also provides future research needs and directions related to IES-SE. © 1969-2012 IEEE.

关键词： Power system analysis

Optimal Fault Detection Observer Design using Excluding Degree

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Optimal Fault Detection Observer Design using Excluding Degr...

IEEE Conference on Decision and control

作者： Feng Xu Yiming Wan Ye Wang Division of Information Science and Technology Shenzhen International Graduate School Tsinghua University Shenzhen P.R. China School of Artificial Intelligence and Automation Huazhong University of Science and Technology and Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan P.R. China Department of Electrical and Electronic Engineering The University of Melbourne Parkville VIC Australia

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a novel optimal gain design method for robust fault detection using set-valued observers. First, a new fault detection performance specification is proposed for set-valued observers based on a new notion named the excluding degree of the origin from a zonotope. Second, a fractional programming problem is formulated to describe fault detection optimality of set-valued observers. Third, optimal fault detection gains are obtained by solving the fractional programming problem. Finally, numerical examples are used to illustrate the effectiveness of the proposed method.

关键词： Fault detection Design methodology Observers Programming Computational complexity Optimization Numerical stability

Resource-efficient Direct Characterization of General Density Matrix

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arXiv 2023年

作者： Xu, Liang Zhou, Mingti Tao, Runxia Zhong, Zhipeng Wang, Ben Cao, Zhiyong Xia, Hongkuan Wang, Qianyi Zhan, Hao Zhang, Aonan Yu, Shang Xu, Nanyang Dong, Ying Ren, Changliang Zhang, Lijian College of Metrology and Measurement Engineering China Jiliang University Hangzhou310018 China National Laboratory of Solid State Microstructures Key Laboratory of Intelligent Optical Sensing and Manipulation College of Engineering and Applied Sciences Collaborative Innovation Center of Advanced Microstructures Nanjing University Nanjing210093 China Research Center for Quantum Sensing Zhejiang Lab Hangzhou310000 China School of Electronic Control Chang’an University Xi’an710064 China Quantum Optics and Laser Science Blackett Laboratory Imperial College London Prince Consort Rd LondonSW7 2AZ United Kingdom Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Key Laboratory for Matter Microstructure and Function of Hunan Province Department of Physics Synergetic Innovation Center for Quantum Effects and Applications Hunan Normal University Changsha410081 China

Sequential weak measurements allow for the direct extraction of individual density-matrix elements, rather than relying on global reconstruction of the entire density matrix, which opens a new avenue for the characterization of quantum systems. Nevertheless, extending the sequential scheme to multi-qudit quantum systems is challenging due to the requirement of multiple coupling processes for each qudit and the lack of appropriate precision evaluation. To address these issues, we propose a resource-efficient scheme (RES) that directly characterizes the density matrix of general multi-qudit systems while optimizing measurements and establishing a feasible estimation analysis. In the RES, an efficient observable of the quantum system is constructed such that a single meter state coupled to each qudit is sufficient to extract the corresponding density-matrix element. An appropriate model based on the statistical distribution of errors is utilized to evaluate the precision and feasibility of the scheme. We have experimentally applied the RES to the direct characterization of general single-photon qutrit states and two-photon entangled states. The results show that the RES outperforms sequential schemes in terms of efficiency and precision in both weak- and strong-coupling scenarios. This work sheds new light on the practical characterization of large-scale quantum systems and the investigation of their non-classical properties. © 2023, CC BY.

关键词： Photons

Networked Integrated Sensing and Communications for 6G Wireless Systems

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arXiv 2024年

作者： Li, Jiapeng Shao, Xiaodan Chen, Feng Wan, Shaohua Liu, Chang Wei, Zhiqiang Ng, Derrick Wing Kwan The College of Artificial Intelligence Southwest University Chongqing400715 China The Brain-Inspired Computing and Intelligent Control Key Laboratory Southwest University Chongqing400715 China The Key Laboratory of Luminescence Analysis and Molecular Sensing Southwest University Chongqing400715 China The Shenzhen Institute for Advanced Study University of Electronic Science and Technology of China Shenzhen518110 China The School of Mathematics and Statistics Xi'an Jiaotong University Xi'An710049 China The Peng Cheng Laboratory Guangdong Shenzhen518055 China Guangdong Guangzhou510555 China The Department of Computer Science and Information Technology La Trobe University MelbourneVIC3150 Australia The School of Electrical Engineering and Telecommunications University of New South Wales SydneyNSW2052 Australia

Integrated sensing and communication (ISAC) is envisioned as a key pillar for enabling the upcoming sixth generation (6G) communication systems, requiring not only reliable communication functionalities but also highly accurate environmental sensing capabilities. In this paper, we design a novel networked ISAC framework to explore the collaboration among multiple users for environmental sensing. Specifically, multiple users can serve as powerful sensors, capturing back scattered signals from a target at various angles to facilitate reliable computational imaging. Centralized sensing approaches are extremely sensitive to the capability of the leader node because it requires the leader node to process the signals sent by all the users. To this end, we propose a two-step distributed cooperative sensing algorithm that allows low-dimensional intermediate estimate exchange among neighboring users, thus eliminating the reliance on the centralized leader node and improving the robustness of sensing. This way, multiple users can cooperatively sense a target by exploiting the block-wise environment sparsity and the interference cancellation technique. Furthermore, we analyze the mean square error of the proposed distributed algorithm as a networked sensing performance metric and propose a beamforming design for the proposed network ISAC scheme to maximize the networked sensing accuracy and communication performance subject to a transmit power constraint. Simulation results validate the effectiveness of the proposed algorithm compared with the state-of-the-art algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Beamforming

Visual Object Detection Based LiDAR Point Cloud Classification

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Visual Object Detection Based LiDAR Point Cloud Classificati...

International Conference on Big Data and Smart Computing (BIGCOMP)

作者： Sualeh Muhammad Gon-Woo Kim Intelligent Robotics Laboratory Control and Robot Engineering Department Chungbuk National University Cheongju Republic of Korea Chungbuk National University Cheongju South Korea

ISBN: (数字)9781728160344

ISBN: (纸本)9781728160351

The environmental perception plays a pivotal role in autonomous driving tasks and demands robustness in cluttered dynamic environments such as complex urban scenarios. LiDAR being one of the popular perceptual sensor, suffers with large number of inaccurate object detections. This work is an extension of an ongoing research on multiple object detection and tracking. Where, Neural Network based approach is considered for visual detection to aid the LiDAR point cloud processing, and to address the inherent shortcoming of the sensor. It is inferred that the proposed framework would perform in real-time on an embedded platform. In addition, the separate processing of visual and LiDAR sensor data will enable switching to a light weight LiDAR only setup in runtime when required.

关键词： Three-dimensional displays Laser radar Object detection Visualization Robot sensing systems Task analysis Cameras

Asynchronous Activity Detection for Cell-Free Massive MIMO: From Centralized to Distributed Algorithms

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arXiv 2022年

作者： Li, Yang Lin, Qingfeng Liu, Ya-Feng Ai, Bo Wu, Yik-Chung Shenzhen Research Institute of Big Data Shenzhen518172 China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China The Department of Electrical and Electronic Engineering The University of Hong Kong Hong Kong The State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Peng Cheng Laboratory Shenzhen518055 China Henan Joint International Research Laboratory of Intelligent Networking and Data Analysis Zhengzhou University Zhengzhou450001 China

Device activity detection in the emerging cell-free massive multiple-input multiple-output (MIMO) systems has been recognized as a crucial task in machine-type communications, in which multiple access points (APs) jointly identify the active devices from a large number of potential devices based on the received signals. Most of the existing works addressing this problem rely on the impractical assumption that different active devices transmit signals synchronously. However, in practice, synchronization cannot be guaranteed due to the low-cost oscillators, which brings additional discontinuous and nonconvex constraints to the detection problem. To address this challenge, this paper reveals an equivalent reformulation to the asynchronous activity detection problem, which facilitates the development of a centralized algorithm and a distributed algorithm that satisfy the highly nonconvex constraints in a gentle fashion as the iteration number increases, so that the sequence generated by the proposed algorithms can get around bad stationary points. To reduce the capacity requirements of the fronthauls, we further design a communication-efficient accelerated distributed algorithm. Simulation results demonstrate that the proposed centralized and distributed algorithms outperform state-of-the-art approaches, and the proposed accelerated distributed algorithm achieves a close detection performance to that of the centralized algorithm but with a much smaller number of bits to be transmitted on the fronthaul links. Copyright © 2022, The Authors. All rights reserved.

关键词： Internet of things

Dynamic Event-Triggered Consensus of Multi-agent Systems on Matrix-weighted Networks

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arXiv 2021年

作者： Pan, Lulu Shao, Haibin Li, Dewei Liu, Lin Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China School of Electronic Information Engineering Shanghai Dianji University Shanghai201306 China

This paper examines the event-triggered consensus of the multi-agent system on matrix-weighted networks, where the interdependencies among higher-dimensional states of neighboring agents are characterized by matrix-weighted edges in the network. Specifically, a novel distributed dynamic event-triggered coordination strategy is proposed for this category of generalized networks, in which an auxiliary system is employed for each agent to dynamically adjust the triggering threshold, which plays an essential role in guaranteeing that the triggering time sequence does not exhibit Zeno behavior. Distributed event-triggered control protocols are proposed to guarantee leaderless and leader-follower consensus for multi-agent systems on matrix-weighted networks, respectively. Remarkably, the spectrum of matrix-valued weights is crucial in event-triggered mechanism design for matrix-weighted networks, generalizing those results only applicable for scalar-weighted networks. The proposed approach allows each agent to broadcast and receive information only at its triggering instants. Finally, simulation examples are provided to demonstrate the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Multi agent systems

Cover Image, Volume 40, Number 6, September 2023

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Journal of Field robotics 2023年第6期40卷

作者： Guoteng Zhang Shugen Ma Jinguo Liu Xianwu Zeng Lingyu Kong Yibin Li School of Control Science and Engineering Shandong University Jinan China Department of Robotics Ritsumeikan University Shiga Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Yibin Li School of Control Science and Engineering Shandong University Jinan China. Intelligent Robot Research Centre Zhejiang Lab Hangzhou China