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An Isochron-Based Solution to Pursuit–Evasion Games of Two Heterogeneous Players

IEEE Transactions on Automatic Control 2025年第5期70卷 2811-2826页

作者： Li, Shuai Wang, Chen Xie, Guangming Peking University State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Beijing100871 China Peking University National Engineering Research Center of Software Engineering Beijing100871 China Peking University Center for Multi-Agent Research Institute for Artificial Intelligence Beijing100871 China

In this article, we study a pursuit–evasion game between two players with heterogeneous kinematics, where the pursuer is with damped double-integrator dynamics and the evader is with single-integrator dynamics. The pursuer aims at capturing the evader as soon as possible, while the evader wants to avoid or delay the capture. Traditional methods to solve pursuit–evasion games rely on the Hamilton–Jacobi–Isaacs (HJI) equations and retrogressive path equations, which are very complicated and nonintuitive, thus failing to obtain a complete solution. To overcome these challenges, we develop an intuitive isochron-based method to thoroughly analyze all possible situations of the game and a concise geometric approach to calculate the optimal strategies, providing a complete solution to this game. Specifically, the isochron-based method effectively leverages three main factors: the players' motion capability, the pursuer's capture capability, and the players' states. Based on these, we analyze the players' superiority and the geometrical features of their isochrones and the intersections, thus acquiring concise conditions that determine the game's outcome. For the success-capture cases, we propose a new geometric approach to calculate the target points of the players and then obtain the closed-loop state feedback optimal pursuit and evasion strategies. We then get the corresponding value function and provide a validation using the HJI equation. For the success-evasion cases, we exploit the intersection of the players' isochrones to design some effective evasion strategies, which ensure that the evader can always avoid or delay the capture. Finally, some numerical simulations are carried out to validate the effectiveness and applicability of our results. © 1963-2012 IEEE.

关键词： State feedback

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Distributed Task Allocation With Minimum Makespan for Heterogeneous Multiplayer Pursuit–Evasion Games

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IEEE Transactions on Automatic Control 2025年第5期70卷 2827-2842页

作者： Li, Shuai Wang, Chen Sun, Jinan Zhang, Shikun Xie, Guangming Peking University State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Beijing100871 China Peking University National Engineering Research Center of Software Engineering Beijing100871 China Peking University Center for Multi-Agent Research Institute for Artificial Intelligence Beijing100871 China

In the domain of multiplayer pursuit–evasion games, it is crucial to address the practical aspects of the players' heterogeneity, the distributed control manner, and the pursuers' goal of minimum makespan. However, the three topics have received limited attention in existing literature, both separately and in combination. In this article, we address the multiplayer pursuit–evasion game integrating these key topics, where the pursuers with simple motions strive to capture as many evaders, characterized by damped double integrators, as possible, meanwhile minimizing the task makespan. To this end, we establish an overall framework and sequentially tackle four key issues, leading to an effective solution to the entire problem. We first propose a novel isochron-based method to derive the capture condition and acquire the optimal pursuit and evasion strategies. Then, we enhance the usability of the capture condition by geometrically deriving the analytical form of the pursuer's winning region with respect to a given evader. Third, leveraging the concept of winning regions, we determine the lower boundary of pursuers' sensing range, ensuring sufficient information acquisition for evader allocation while avoiding selection conflicts. Finally, we propose a fully distributed allocation algorithm for each pursuer allowing the pursuer team to converge to the optimal evader allocation. By combining these contributions, we successfully provide an effective solution to the entire problem. Various simulations are conducted to show the effectiveness of our proposed methods. © 1963-2012 IEEE.

关键词： Games Resource management Sensors Robot sensing systems Mathematical models Heuristic algorithms Decentralized control Usability Biomimetics Topology

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Distributed adaptive attitude synchronization of multiple spacecraft

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Science China(Technological Sciences) 2011年第8期54卷 1992-1998页

作者： LI ZhongKui DUAN ZhiSheng School of Automation Beijing Institute of Technology Beijing 100081 China State Key Lab. for Turbulence and Complex Systems Department of Mechanics and Aerospace Engineering College of Engineering Peking University Beijing 100871 China

This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a time-varying reference attitude is assigned. The first controller achieves attitude synchronization for a group of spacecraft with a leaderless communication topology having a directed spanning tree. The second controller guarantees that all spacecraft track the reference attitude if the virtual leader has a directed path to all other spacecraft. Simulation examples are presented to illustrate the effectiveness of the results.

关键词： attitude synchronization distributed control adaptive control multi-agent system

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Exploiting crowd-based learning method in software engineering course 15

Exploiting crowd-based learning method in software engineeri...

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15th International Conference on Computer Science and Education, ICCSE 2020

作者： Mao, Xinjun Lu, Yao Yang, Yi National University of Defense Technology Key Lab. of Software Engineering for Complex Systems Changsha China National University of Defense Technology College of Computer Changsha China

ISBN: (纸本)9781728172675

software engineering is one of main major course for computer science. The main objective of this course is to improve the engineering capabilities of students to develop complex software systems. However, current course practice methods are teacher-centered and thus highly depend on the limited talents, experiences and efforts of teachers. Such methods greatly restrict students' scopes to gain necessary skills and artifacts, and to draw on successful experiences to address various personalized engineering issues and therefore enhance abilities to tackle engineering complexity. This paper presents a crowd-based learning method and introduces our exploration to use the method to reform the software engineering course practice. The essence of our exploration is to exploit the wisdoms and artifacts of crowds over Internet to support students to accomplish their course projects. The former is the engineering knowledges shared in question and answering (QA) platforms such as StackOverflow, and the latter is the open source software (OSS) hosted in OSS sites such as GitHub. We use the method in two separate course practices that aim to improve students' abilities to develop original, high-quality and large-scale software systems. The results of three-year explorations are positive and impressive and show that the crowd-based learning method is effective. © 2020 IEEE.

关键词： Open source software

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Chaos control and synchronization of dynamical model of happiness with fractional order

Chaos control and synchronization of dynamical model of happ...

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2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009

作者： Song, Lei State Key Lab. for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China

ISBN: (纸本)9781424428007

This paper examines fractional-order dynamical model of happiness. The dynamics of this system is studied numerically. The system displays many different dynamic behaviors, such as periodic motions, chaotic motions and divergence. It was found that chaos exists in the fractional-order system with order less than 3. In this study, the lowest order for this system to yield chaos is 2.97. The results are validated by the existence of a positive Lyapunov exponent. Moreover, chaos control and synchronization are also discussed here, which is a step into the research field of psychology on emotion control and synchronization by using fractional order models. © 2009 IEEE.

关键词： Synchronization

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High level architecture evolved modular federation object model

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Journal of systems engineering and Electronics 2009年第3期20卷 625-635页

作者： Wang Wenguang Xu Yongping Chen Xinx Chen Xin Li Qun Wang Weiping Coll. of Information System and Management National Univ. of Defense Technology Changsha 410073 P. R. China Beijing Key Lab. of Intelligent Telecommunications Software and Multimedia Beijing Univ. of Posts and Telecommunications Beijing 100876 P. R. China State Key Lab. for Complex Systems Simulation Beijing 100101 P. R. China

To improve the agility, dynamics, composability, reusability, and development efficiency restricted by monolithic federation object model （FOM）, a modular FOM is proposed by high level architecture （HLA） evolved product development group. This paper reviews the state-of-the-art of HLA evolved modular FOM. In particular, related concepts, the overall impact on HLA standards, extension principles, and merging processes are discussed. Also permitted and restricted combinations, and merging rules are provided, and the influence on HLA interface specification is given. The comparison between modular FOM and base object model （BOM） is performed to illustrate the importance of their combination. The applications of modular FOM are summarized. Finally, the significance to facilitate compoable simulation both in academia and practice is presented and future directions are pointed out.

关键词： model federation object model review modular federation object model base object model composability high level architecture evolved simulation.

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Process semantic-enabled customisation for active service provisioning

Process semantic-enabled customisation for active service pr...

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International Conference on Computational Science and engineering

作者： Wen, Bin He, Keqing Liang, Peng Xu, Lai State Key Lab. of Software Engineering Wuhan University Wuhan China Software Systems Research Centre Bournemouth University United Kingdom

ISBN: (纸本)9780769543239

Service oriented architecture (SOA) promotes highly standardized, loosely coupled and Web-enabled services to foster rapid, low-cost and easy composition of distribute applications. Critical to SOA software development is to acquire users' requirements and to provide service analysis and design techniques for identifying, conceptualizing, profiling, and rationalising service-enable applications. Semantic-enabled requirements engineering (SRE) for developing service-oriented applications helps to transform disordered users' needs into ordered requirement specifications. It facilitates requirements acquisition with multiple stakeholders' participation. It further enhances semantic-conducted services aggregation and eventually provides customized service productions according to process semantics of requirements. This paper concentrates on user-centric service customization with a paradigm shift from classical provider-centric service provision to user-centric active service production. Subscription and pushing technology of ATOM/RSS is adopted to actively push users' needs to service providers. Semantic description of service requirements is proposed, and characterizes in identifying process (workflow) and service. A customized service production platform is designed to demonstrate its practicability and effectiveness. © 2010 IEEE.

关键词： Semantics

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An embedded co-AdaBoost and its application in classification of software document relation

An embedded co-AdaBoost and its application in classificatio...

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2012 8th International Conference on Semantics, Knowledge and Grids, SKG 2012

作者： Liu, Jin Li, Juan Xie, Yuan Lei, Jeff Hu, Qiping State Key Lab. of Software Engineering Computer School Wuhan University China State Key Lab. of Intelligent Control and Management of Complex Systems Institute of Automation CAS China Department of Computer Science and Engineering University of Texas Arlington TX United States International School of Software Wuhan University China

ISBN: (纸本)9780769547947

To enhance classification performance by making use of easily availab.e unlab.lled data to overcome the scarcity of lab.lled data, this paper proposes an Embedded Co-Adaboost algorithm that integrates multi-view learning into the Adaboost learning framework and at the same time leverages the advantages of Co-training algorithm for performance enhancement. Experimental results demonstrate the effectiveness of the proposed algorithm in terms of the convergence rate, the accuracy, and the steady performance as compared to the original AdaBoost algorithm, without relying on redundant and sufficient feature sets. As a algorithm application in software engineering, the Embedded Co-AdaBoost has been applied to the classification of software document relations to improve the quality of the architecture design documents and the reusability of design knowledge. © 2012 IEEE.

关键词： Reusability

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Cycle slipping in discrete phase-controlled system

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25th Chinese Control Conference, CCC 2006

作者： Pingli, Lu Ying, Yang Lin, Huang State Key Lab. for Turbulence and Complex Systems Department of Mechanics and Engineering Science Peking University Beijing 100871 China

ISBN: (纸本)7810778021

This paper considers cycle slipping of discrete phase-controlled system with periodic nonlinearity. The number of slipped cycles is an important characteristic of such nonlinear system. Based on Yakubovich-Kalman Lemma which establishes the equivalence between frequency domain inequalities(FDIs) and linear matrix inequalities(LMIs), the conditions of estimating the number of slipped cycles are derived. Then dynamic output feedback controller is designed to guarantee the nonexistence of cycle slipping. As a result, the transient performance of discrete phase-controlled system is improved. A concrete application to impulse phase-locked loop (PLL) shows the applicability and validity of the proposed approach.

关键词： Phase control

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Cycle slipping phenomenon in synchronous control systems

Cycle slipping phenomenon in synchronous control systems

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2007 American Control Conference, ACC

作者： Ying, Yang Lin, Huang State Key Lab. for Turbulence and Complex Systems Department of Mechanics and Engineering Science Peking University Beijing 100871 China

ISBN: (纸本)1424409888

Cycle slipping is a characteristically nonlinear phenomenon in synchronous control systems. Slipping a cycle means that the phase error is increased to such an extent that the generator to be synchronized slips one complete cycle with respect to the input phase. In this paper, linear matrix inequality (LMI) conditions for the existence of cycle slipping in a synchronous control system is proposed and the estimation of the number of cycles which slips a solution of the system is obtained by solving a quasi-convex optimization problem of LMI. Applications to phase locked loops demonstrate the validity of the proposed approach. © 2007 IEEE.

关键词： Linear matrix inequalities

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