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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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SlotFusion: Object-Centric Audiovisual Feature Fusion with Slot Attention for Remote Sensing Scene Recognition

SlotFusion: Object-Centric Audiovisual Feature Fusion with S...

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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Han, Fangzhou Yu, Tianyi Zhang, Lamei Si, Lingyu Zhang, Yiqi Dept. of Information Engineering Harbin Institute of Technology Harbin China National Key Laboratory of Space Integrated Information System Institute of Software Chinese Academy of Sciences Beijing China Institute of Software Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350368741

Despite significant advancements in remote sensing multimodal learning, particularly in image-image feature fusion, the exploration of audio-image feature fusion remains insufficient. Given the complexity and redundancy of ground objects in remote sensing images, accurately aligning audio features with image features during the fusion process is a critical challenge. In this paper, we introduce an object-centric feature fusion method named SlotFusion. By employing a slot attention-based feature decoupling module and a slot-based audiovisual feature fusion module, we transform modality features with complex semantic information into a set of slot features corresponding to object units and use gated activation units to adaptively implement object-centric feature fusion. Experiments on the Audio Visual Aerial Scene Recognition dataset (ADVANCE) demonstrate that the proposed SlotFusion significantly improves remote sensing scene recognition performance, with a 7.04% increase in overall accuracy compared to previous methods, achieving state-of-the-art results. © 2025 IEEE.

关键词： Audiovisual feature fusion Gated feature fusion Object-centric learning Slot attention

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Transformer-Based Scenario Generation of Multi-segment Monotonic Increasing Bidding Curves of Power Plants

Transformer-Based Scenario Generation of Multi-segment Monot...

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International Conference of Electrical, Electronic and Networked Energy systems, EENES 2024

作者： Xie, Haochuan Lv, Jianhu Wang, Ying Yuan, Kun College of Software Southeast University Suzhou China China Electric Power Research Institute Beijing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (纸本)9789819618637

With the relaxation of electricity market regulation, power plants are permitted to engage in bidding. The bidding outcomes in the competitive market differ significantly from those in the previously regulated market. These differences in bidding outcomes will further impact power flow and system security. To provide a reference for practical electricity market operations, make market simulation more realistic, it is crucial to analyze and establish a model to simulate the bidding behavior of power generators. This paper applies Transformer networks to predict multi-segment bidding behaviors of power plants, we have improved the classic Transformer network by adopting a one encoder-two decoder format, considering six key factors influencing bidding behavior: unit ID, fuel type, capacity, location, system load, and load ratio. Additionally, monotonicity of the multi-segment bidding curves of power plants is taken into account, and monotonicity loss functions are introduced to achieve this goal. We apply this method to predict bidding behaviors in power plants in the Australian electricity market, validating the accuracy of the model. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： bidding curves generation monotonicity constraint power market Transformer-based

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High-Precision Sub-Seafloor Velocity Building Based on Joint Tomography and Deep Learning on OBS Data in the South China Sea

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Journal of Earth Science 2025年第2期36卷 830-834页

作者： Guoxin Chen Jun Li Jinxin Chen Rongsen Du Yutao Liu Yuli Qi Chun-Feng Li Xingguo Huang Department of Marine Sciences Zhejiang UniversityZhoushan 316021China Hainan Institute Zhejiang UniversitySanya 572025China Chinese Academy of Sciences Institute of SoftwareNational Key Laboratory of Space Integrated Information SystemBeijing 100190China College of Instrumentation and Electrical Engineering Jilin UniversityChangchun 130026China

*** velocity model is crucial for describing the subsurface composition and structure,and has significant implications in offshore oil and gas exploration and marine geophysical engineering(Xie et al.,2024).Currently,travel time tomography is the most commonly used method for velocity modeling based on ocean bottom seismometer(OBS)data(Zhang et al.,2023;Sambolian et al.,2021).This method usually assumes that the sub-seafloor structure is layered,and therefore faces challenges in high-precision modeling with strong lateral discontinuities.

关键词： velocity modeling time tomography marine geophysical engineering xie joint tomography describing subsurface composition structureand high precision velocity modeling offshore oil gas exploration ocean bottom seismometer obs data zhang

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A Two-Stage Payload Dynamic Parameter Identification Method for Interactive Industrial Robots With Large Components

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IEEE Transactions on Automation Science and engineering 2025年 22卷 13871-13883页

作者： Liu, Mingxuan Li, Pengcheng Duan, Jinjun Liu, Lunqian Shen, Ye Tian, Wei Ji, Yuqi Nanjing University of Aeronautics and Astronautics College of Mechanical and Electrical Engineering Nanjing210016 China State Key Laboratory of Intelligent Manufacturing System Technology for Complex Products Beijing100854 China Shanghai Aircraft Manufacturing Company Shanghai200120 China Shanghai Aerospace Electronic Technology Research Institute Shanghai201109 China

Taking human-robot collaborative assembly as an example, the methods based on contact forces can improve the assembly efficiency of industrial robots with large components in industrial manufacturing. However, due to the large size, high payload, assembly accuracy and dynamic changes in grip position, accurately estimating the contact forces between the payload and the operator becomes challenging when handling these large components. In this paper, a two-stage method is proposed for payload dynamic parameter identification. The parameter identification equation in the sensor coordinate system is initially established. Furthermore, the identification model of recursive restricted total least squares (RRTLS) based on total least squares (TLS) is constructed to achieve low-consumption online identification. According to the assembly requirements and payload characteristics, the posture coordinate system is designed for safety, including the feasible workspace for the robot. Subsequently, the static identification postures and dynamic excitation trajectory are planned to obtain static values and dynamic inertial parameters. In the end, a high-payload human-robot collaborative assembly system is built to validate the proposed method. Experimental results show that compared with the existing methods, the proposed approach can effectively identify and compensate the payload, leading to more accurate external force sensing. © 2004-2012 IEEE.

关键词： Industrial robots

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Finite-Time Consensus of Second-Order Multiagent systems With Input Saturation via Hybrid Sliding-Mode Control

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IEEE Transactions on Automation Science and engineering 2025年 22卷 14623-14632页

作者： Jiang, Xiaowei Jiao, Ranran Li, Bo Zhang, Xianhe Yan, Huaicheng China University of Geosciences School of Automation Wuhan430079 China Ministry of Education Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Geodetection Technology Wuhan430074 China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai200240 China Anhui University of Finance and Economics School of Finance Bengbu233030 China Hubei Normal University School of Electrical Engineering and Automation Huangshi435002 China Ministry of Education East China University of Science and Technology Key Laboratory of Smart Manufacturing in Energy Chemical Process Shanghai200237 China

This paper addresses the finite-time consensus (FTC) issue for second-order multi-agent systems (MASs) with nonlinear disturbances. To tackle the challenges posed by increasingly complex communication environments, an innovative integral sliding-mode surface is designed using event-triggered control. Furthermore, the study explores communication constraints between the leader and followers, employing impulsive control to facilitate communication only at specific intervals. A novel hybrid integral sliding-mode control protocol is advanced for the second-order MASs, which effectively eliminates the "Zeno phenomenon" and notably reduces both communication frequency and energy consumption, thereby enhancing overall communication efficiency. Ultimately, the efficacy of the put forward protocol is verified through simulation examples including comparison experiment. © 2004-2012 IEEE.

关键词： Protocols Sliding mode control Event detection Multi-agent systems Costs Training Topology Switches Sufficient conditions Stability analysis

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EagerLog: Active Learning Enhanced Retrieval Augmented Generation for Log-based Anomaly Detection

EagerLog: Active Learning Enhanced Retrieval Augmented Gener...

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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Duan, Chiming Jia, Tong Yang, Yong Liu, Guiyang Liu, Jinbu Zhang, Huxing Zhou, Qi Li, Ying Huang, Gang School of Software and Microelectronics Peking University Beijing China Institute for Artificial Intelligence Peking University Beijing China National Engineering Research Center for Software Engineering Peking University Beijing China National Key Laboratory of Data Space Technology and System Beijing China Alibaba Cloud Computing Company Hangzhou China

ISBN: (纸本)9798350368741

Logs record essential information about system operations and serve as a critical source for anomaly detection, which has generated growing research interest. Utilizing large language models (LLMs) within a retrieval-augmented generation (RAG) framework for log-based anomaly detection is an effective approach due to its strong generalization capabilities and efficient few-shot performance. However, the effectiveness of this method hinges on the quality of the knowledge source, which can be impacted by noise and changes within the software systems. Facing these problems, in this paper, we propose a novel log-based anomaly detection method named EagerLog, employing active learning to choose the logs for humans to label, thereby adding them to the knowledge source, thus enhancing the knowledge source and maintaining its quality. Our experiments on three open datasets (BGL, Thunderbird, Zookeeper) and one industrial dataset demonstrate that EagerLog can achieve 93.65% F1 score with approximately 10 labeled log sequences, surpassing existing methods by 15.32%. © 2025 IEEE.

关键词： Active Learning Anomaly Detection Log Analysis Retrieval Augmented Generation

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DasAtom: A Divide-and-Shuttle Atom Approach to Quantum Circuit Transformation

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IEEE Transactions on Computer-Aided Design of Integrated Circuits and systems 2025年

作者： Huang, Yunqi Gao, Dingchao Ying, Shenggang Li, Sanjiang Faculty of Engineering and Information Technology SydneyNSW2007 Australia Institute of Software Chinese Academy of Sciences Key Laboratory of System Software Chinese Academy of Sciences State Key Laboratory of Computer Science China

Neutral atom (NA) quantum systems are emerging as a leading platform for quantum computation, offering superior or competitive qubit count and gate fidelity compared to superconducting circuits and ion traps. However, the unique features of NA devices, such as long-range interactions, long qubit coherence time, and the ability to physically move qubits, present distinct challenges for quantum circuit compilation. In this paper, we introduce DasAtom, a novel divide-and-shuttle atom approach designed to optimise quantum circuit transformation for NA devices by leveraging these capabilities. DasAtom partitions circuits into subcircuits, each associated with a qubit mapping that allows all gates within the subcircuit to be directly executed. The algorithm then shuttles atoms to transition seamlessly from one mapping to the next, enhancing both execution efficiency and overall fidelity. For a 30-qubit Quantum Fourier Transform (QFT), DasAtom achieves a 415.8x improvement in fidelity over the move-based algorithm Enola and a 10.6x improvement over the SWAP-based algorithm Tetris. Notably, this improvement is expected to increase exponentially with the number of qubits, positioning DasAtom as a highly promising solution for scaling quantum computation on NA platforms. © 1982-2012 IEEE.

关键词： Qubits

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Fast resistivity imaging of transient electromagnetic using an extreme learning machine

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Soft Computing 2025年第2期29卷 1121-1131页

作者： Li, Ruiyou Zhang, Yong Li, Guang Li, Ruiheng Hu, Jia Li, Min School of Software and Internet of Things Engineering Jiangxi University of Finance and Economics NanChang330013 China School of Geophysics and Measurement Control Technology East China University of Technology NanChang330013 China School of Information Engineering Hubei University of Economics Wuhan430205 China The State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing University Chongqing400044 China

The transient electromagnetic method (TEM) is widely used in geophysical exploration. In TEM data interpretation, nonlinear inversion plays an important role. However, traditional TEM nonlinear inversion adopts the OCCAM imaging method, which merely presents the approximate shape of the stratum model, with poor inversion accuracy and much iteration time. To solve the above problems, a novel nonlinear inversion approach based on extreme learning machine (ELM) is proposed in this paper. The ELM is required to establish the input–output mapping relationship of the inversion network only once through the analytical method, which is different from the traditional neural network method that demands iterative gradient learning and is prone to fall into the local optimum. Moreover, the ELM inversion network by randomly assigning the hidden layer parameters is capable of mapping the observed TEM data and quickly producing resistivity images, which avoids time-consuming iteration and inversion calculations. The presented approach is applied to both synthetic and field examples. The results show that compared with the traditional nonlinear inversion algorithms (BP and OCCAM), the proposed method achieves better inversion accuracy and significantly reduces the calculation time, which verifies the effectiveness of the ELM algorithm for TEM data interpretation. Additionally, the research provides a new method and technology for TEM data inversion. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Electromagnetic transients

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