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Multi-Vehicle Cooperative Persistent Coverage for Random Target Search

IEEE Robotics and automation Letters 2025年第7期10卷 6680-6687页

作者： Li, Zhuo Li, Guangzheng Sadeghi, Alireza Sun, Jian Wang, Gang Wang, Jialin Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing100084 China Chongqing Innovation Center Beijing Institute of Technology Chongqing401120 China University of Minnesota Department of Electrical and Computer Engineering MinneapolisMN55455 United States Intelligent Game and Decision Laboratory China Academy of Launch Vehicle Technology Beijing100071 China

This letter investigates the target search problem for a network of autonomous vehicles, aiming to maximize the detection of randomly appearing targets within a given area. Considering no prior knowledge of the targets is available, we propose a multi-vehicle cooperative persistent coverage scheme under the framework of multi-agent reinforcement learning, in contrast to heuristic and model-based optimization methods in existing works. We model the persistent coverage problem as a partially observable Markov decision process (POMDP) due to the vehicles' limited observation ranges, and introduce a knowability map to characterize their knowledge of the target area. Each vehicle employs a distributed estimator, leveraging its own observations and shared information from neighboring vehicles, to construct a globally estimated knowability map - thereby mitigating partial observability. The persistent coverage policies are learned with the architecture of centralized training and distributed execution, enabling cooperative and efficient target search by fully exploiting shared information. Moreover, we propose an adaptive partition method for the target area to ensure a fixed dimension of the state space in the POMDP, which can improve scalability of the learned policy to target areas with various sizes. Simulations validate effectiveness and scalability of the proposed cooperative scheme. © 2025 IEEE.

关键词： Reinforcement learning

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Stick-Slip Vibration Suppression Based on Multi-modal Analysis and Equivalent - Input-Disturbance Method

Stick-Slip Vibration Suppression Based on Multi-modal Analys...

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Asian control Conference

作者： Lingfeng Mu Hengyu Huang Haitao Song Zhejiaqi Ma Chengda Lu Min Wu School of Future Technology China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China School of Automation China University of Geosciences Wuhan China CCTEG Xi 'an Research Institute (Group) Co. Ltd. Xi'an China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This work investigates the active suppression of stick-slip vibration based on the multi-modal analysis and equivalent-input-disturbance (EID) method. By building a lumped parameter model with a high degree of freedom, the multi-modal properties of the vibration are examined. The multi-modal disturbance signals of the drilling string system are analyzed using the variational modal decomposition method. The EID method is used to design a vibration suppression controller. The parameters in the EID method are adjusted based on the primary modal frequencies to obtain the equivalent disturbance at the appropriate frequency. According to the simulation results, the proposed approach improves the effectiveness of active vibration suppression of the drill string, which is of some significance in guiding the drilling operation.

关键词： Vibrations Drilling Accuracy Perturbation methods Modal analysis Simulation Buildings

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Deep Convolutional Correlation Filter Learning Toward Robust Visual Object Tracking

Deep Convolutional Correlation Filter Learning Toward Robust...

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Chinese control and decision Conference, CCDC

作者： Tayssir Bouraffa Zihang Feng Yuxuan Wang Liping Yan Yuanqing Xia Bo Xiao School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing P. R. China

ISBN: (纸本)9781665478977

Recently, convolutional neural network has been pervasively adopted in visual object tracking for its potential in discriminating the target from the surrounding background. Most of the visual object trackers extract deep features from a specific layer, generally from the last convolutional layer. However, these trackers are less effective, especially when the target undergoes drastic appearance variations caused by the presence of different challenging situations, such as occlusion, illumination change, background clutter and so on. In this research paper, a novel tracking algorithm is developed by introducing an elastic net constraint and a contextual information into the convolutional network to successfully track the desired target throughout a video sequence. Hierarchical features are extracted from the shallow and the deep convolutional layers to further improve the tracking accuracy and robustness. As the deep convolutional layers capture important semantic information, they are more robust to the target appearance variations. As for the shallow convolutional layers, they encode significant spatial details, which are more accurate to precisely localize the desired target. Moreover, Peak–Strength Context–Aware correlation filters are embedded to each convolutional layer output that produce multi–level convolutional response maps to collaboratively identify the estimated position of the target in a coarse–to–fine manner. Quantitative and qualitative experiments are performed on the widely used benchmark, the OTB–2015 dataset that shows impressive results compared to the state–of–the–art trackers.

关键词： Visualization Target tracking Correlation Semantics Video sequences Feature extraction Information filters

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Delay-Dependent Stability Analysis of Multi-Area Load Frequency control systems with Multiple Renewable Energy Structures

Delay-Dependent Stability Analysis of Multi-Area Load Freque...

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Chinese control Conference (CCC)

作者： Qian-Long Pan Li Jin Yong He Zhou-Zhou Liu School of Automation China University of Geosciences Wuhan P.R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P.R. China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan P.R. China

This paper investigates the delay-dependent stability of time-delayed load frequency control (LFC) systems with multiple energy structures based on Lyapunov theory and linear matrix inequality (LMI) technology. Firstly, a multi-area delayed LFC model considering multiple renewable energy structures is established. Then, in order to improve the computation efficiency of stability analysis of large scale LFC systems, a new reconstruction technique for system model is proposed. Next, the improved delay-dependent stability criteria are established based on reconstructed model by using the Lyapunov stability theory. Finally, case studies are based on two-area LFC systems. Comparing with the criterion based on the original model without reconstruction, the calculation efficiency of proposed stability criteria has been greatly improved with the cost of small accuracy, and the calculation accuracy is better than the previous methods.

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Maximum power point tracking of photovoltaic array in partial shading condition based on improved Gray Wolf optimization algorithm

Maximum power point tracking of photovoltaic array in partia...

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Chinese control and decision Conference, CCDC

作者： Chuang Kou Chenxi Li Kanjian Zhang Jinxia Zhang Haikun Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China

ISBN: (纸本)9781665478977

The partial shading condition (PSC) makes it challenging for the PV system to find the maximum power point. In this paper, an improved gray wolf algorithm (GWO) is proposed by introducing elimination mechanism, greedy mechanism and adjusting the convergence factor which overcomes the contradiction between global exploration ability and convergence time. Under fast varying irradiance and PSC, IGWO has been compared with GWO, particle swarm optimization (PSO), and adaptive particle swarm optimization (APSO), the results shows the superiority of IGWO in the MPPTs of the PV system.

关键词： Photovoltaic systems Maximum power point trackers Adaptive systems Heuristic algorithms Particle swarm optimization Oscillators Optimization

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High-Precision Admittance control of Mechanical Arm Based on Force Sensor Compensation

High-Precision Admittance Control of Mechanical Arm Based on...

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第34届中国控制与决策会议

作者： Yaohui Wu Jiangbo Zhao Junzheng Wang Xin Zhang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd.

Admittance control is one of the important methods of compliance *** is performed by inputting force signals and outputting position *** control can achieve high accuracy,but the force signals have large errors,which is an important factor affecting its *** the force sensor collects force data,there are non-negligible initial deviations due to gravity,installation,and other factors,resulting in poor admittance control *** order to solve this problem,this paper takes the six-degree-of-freedom manipulator admittance control as the research *** to the mapping relationship between the end attitude and the sensor errors,we propose a method of obtaining the initial offset value of the sensor through data *** method traverses the initial values of the sensor in each working posture when the sensor has no external force input,and then performs secondary interpolation to obtain the offset values of the sensor in any posture,corrects the output values of the force/torque sensor,and then improve the accuracy of admittance *** experimental results show that this method can quickly and effectively improve the calculation accuracy of the sensor's initial deviation values and the admittance control accuracy.

关键词： Admittance control Force/torque sensor Quadratic interpolation Precision optimization

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Design and Application of a One-Stop Mobile Application Sharing Platform for Steel Enterprises

Design and Application of a One-Stop Mobile Application Shar...

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Chinese control Conference (CCC)

作者： Xinzhe Chen Luefeng Chen Jie Hu Qingfeng Yang Min Wu Witold Pedrycz School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

As China's steel production accounts for an increasing share of the world's output, the intelligent transformation of the steel industry is becoming increasingly urgent. To address issues such as low levels of mobile informationization in steel enterprises and the lack of an industry-specific mobile application platform, it is of great significance to establish a shared mobile application platform for the steel industry. In this paper, the requirements of the platform were analyzed, and the platform's functions were designed. The software design of the platform was then carried out, and the entire mobile application sharing platform was developed, effectively improving the production management efficiency of steel enterprises. The results indicate that the platform can effectively meet the needs of steel enterprises and has significant engineering significance.

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Stability Analysis of Delayed T-S Fuzzy systems via the Fuzzy Line-Integral Method

Stability Analysis of Delayed T-S Fuzzy Systems via the Fuzz...

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Chinese control Conference (CCC)

作者： Zhou-Zhou Liu Li Jin Yong He School of Automation China University of Geosciences Wuhan P.R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P.R. China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan P.R. China

This paper focuses on the problem of stability analysis for Takagi-Sugeno systems with time-varying delays. Firstly, a suitable Lyapunov-Krasovskii functional (LKF) containing fuzzy line-integral Lyapunov functional is constructed, which can introduce membership functions information while avoiding emerging the time-derivatives of membership functions. Then, a generalized free-matrix-based integral inequality is applied to estimate the derivative of the LKF. As a result, a less conservative stability criterion is obtained. Finally, a numerical example is carried out to illustrate the effectiveness and merits of our method.

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TransTracking for UAV: An Autonomous Real-time Target Tracking System for UAV via Transformer Tracking

TransTracking for UAV: An Autonomous Real-time Target Tracki...

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2021 International Conference on intelligent Technology and Embedded systems, ICITES 2021

作者： Sun, Xiaolou Xie, Fei Wang, Qi Yao, Yuncong Wang, Hao Wang, Wei Yang, Wankou School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Nanjing University of Information Science and Technology School of Automation Nanjing211800 China

ISBN: (纸本)9781665427555

Most of the existing Siamese-type trackers usually adopt pre-defined anchor boxes or anchor-free schemes to accurately estimate the bounding box of targets. Unfortunately, they suffer from complicated hand-designed components and tedious post-processings. It is not easy to adjust parameters for unique scenes in real applications. So, we propose a new scheme by formulating visual tracking as a direct set prediction problem to alleviate this issue. The main component is a transformer attached to the Siamese-type feature extraction networks. Thus, our new framework can be summarized as Siamese Network with Transformers (SiamTFR). With a fixed small set of learned object queries, we force the final set of predictions via bipartite matching, significantly reducing hyper-parameters associated with the candidate boxes. Due to the unique predictions of this framework, we significantly ease the heavy burden of hyper-parameters search of post-processings in visual tracking. Extensive experiments on visual tracking benchmarks, including GOT-10K, demonstrate that SiamTFR achieves competitive performance and runs at 50 FPS. Specifically, SiamTFR outperforms leading anchor-based tracker SiamRPN++ in the GOT-10K benchmark, confirming its effectiveness and efficiency. Furthermore, SiamTFR is deployed on the embedded device in which the algorithm can be run at 30FPS or 54FPS with TensorRT meeting the real-time requirements. In addition, we design the complete tracking system demo that can work in the real road to narrow the gap between the academic models and industrial deployments. © 2021 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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An Improved Distributed Secondary control to Attain Concomitant Accurate Current Sharing and Voltage Restoration in DC Microgrids

An Improved Distributed Secondary Control to Attain Concomit...

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第40届中国控制会议

作者： Danyun Li Dashuang Zhao School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This article proposes a distributed secondary control strategy for accurate current allocation and voltage restoration in DC microgrids. This method consists of a high coefficient droop controller and a voltage shifting controller which needs to obtain the voltage information of the adjacent converters through a low bandwidth communication link, and then calculates the voltage shifting required for the reference voltage. The system small-signal model considering the specific converter object is established to analyze the regulation rules of the parameters of the secondary controller. Moreover, the proposed method does not require complex control structure and a large amount of information of converter variables. A DC microgrid environment was built in MATLAB/Simulink, and the effectiveness of the proposed control strategy was verified.

关键词： Distributed control Voltage restoration Droop control DC microgrid

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