检索结果-内蒙古大学图书馆

Event-Triggered Distributed Multitarget Tracking With Unknown Clutter Rate and Detection Profile

IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Zheng, Litao Yang, Feng Shi, Lihong Guo, Zhengyu Cai, Yunze Shanghai Jiao Tong University Department of Automation Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Northwestern Polytechnical University School of Automation Xi'an710129 China Key Lab of Information Fusion Technology Ministry of Education of China Xi'an710129 China National Key Laboratary of Air-based Information Perceptian and Fusion Luoyang China State Key Laboratory of Submarine Geoscience Shanghai201913 China

This paper addresses communication bandwidth reduction and energy efficiency enhancement of a peer-to-peer sensor network for distributed multitarget tracking under unknown clutter rate and detection profile. We propose an event-triggered distributed bootstrap cardinalized probability hypothesis density (CPHD) filter, where the local filter consists of an estimator that estimates the clutter and detection parameters, and a tracker that estimates the number and states of targets. Specifically, the proposed approach enforces each sensor to broadcast its local posterior density only when it has high estimation quality and significant information gain, wherein the former is determined by the outputs of the local estimator and tracker, while the latter is measured via the Jensen-Shannondivergence. Then, we develop a modified weighted arithmetic average fusion method to separately fuse the cardinality distributions and intensity functions, in which the fusion weights are constructed based on estimation qualities and triggering thresholds, which is incorporated into the distributed flooding scheme for distributed averaging. Additionally, the Gaussian mixture implementations of the proposed event-triggered distributed bootstrap CPHD filter are given, where only Gaussian components with high weights are applied, thus reducing the effect of false alarms and, consequently, achieving a partial consensus across the network. Finally, the effectiveness of the proposed algorithm is validated through simulation experiments. © 1965-2011 IEEE.

关键词： Gaussian distribution

来源：评论

学校读者我要写书评

暂无评论

Time-of-Flight Camera Based Trailer Hitch Detection for Automatic Reverse Hanging system 6th

Time-of-Flight Camera Based Trailer Hitch Detection for Auto...

引用

6th International Conference on Cognitive systems and Signal processing, ICCSIP 2021

作者： Liu, Yaqi Wang, Chunxiang Yuan, Wei Yang, Ming Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China University of Michigan - Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789811692468

With the development of autonomous vehicles, trailer-mounted self-driving cars are widely used for goods transportation. However, self-driving cars still use a manual way to hitch a trailer. To address this problem, this paper proposes a two-stage trailer hitch detection algorithm using a Time-of-Flight (ToF) camera to hitch the vehicle to a trailer automatically. The algorithm is divided into two parts: trailer detection and trailer hitch detection. An algorithm based on a 2D color image is used for trailer detection. To hitch a trailer successfully, the accurate pose of the trailer hitch is needed. This paper proposes an algorithm that combines coarse matching and fine matching in trailer hitch detection, which provides the 3D coordinate and the pose of the hitch. The method’s performance is evaluated on real data. The experiments show the proposed method achieves high accuracy and high efficiency. © 2022, Springer Nature Singapore Pte Ltd.

关键词： Light trailers

来源：评论

学校读者我要写书评

暂无评论

Unleashing Correlation and Continuity for Hyperspectral Reconstruction from RGB Images

arXiv

引用

arXiv 2025年

作者： Feng, Fuxiang Cong, Runmin Wei, Shoushui Zhang, Yipeng Li, Jun Kwong, Sam Zhang, Wei The School of Control Science and Engineering Shandong University Jinan250061 China The Key Laboratory of Machine Intelligence and System Control Ministry of Education Jinan250061 China The University of California Los Angeles United States The Hubei Key Laboratory of Intelligent Geo-Information Processing The School of Computer Science China University of Geo-sciences Wuhan430078 China The Lingnan University Hong Kong

Reconstructing Hyperspectral Images (HSI) from RGB images can yield high spatial resolution HSI at a lower cost, demonstrating significant application potential. This paper reveals that local correlation and global continuity of the spectral characteristics are crucial for HSI reconstruction tasks. Therefore, we fully explore these inter-spectral relationships and propose a Correlation and Continuity Network (CCNet) for HSI reconstruction from RGB images. For the correlation of local spectrum, we introduce the Group-wise Spectral Correlation Modeling (GrSCM) module, which efficiently establishes spectral band similarity within a localized range. For the continuity of global spectrum, we design the Neighborhood-wise Spectral Continuity Modeling (NeSCM) module, which employs memory units to recursively model the progressive variation characteristics at the global level. In order to explore the inherent complementarity of these two modules, we design the Patch-wise Adaptive Fusion (PAF) module to efficiently integrate global continuity features into the spectral features in a patch-wise adaptive manner. These innovations enhance the quality of reconstructed HSI. We perform comprehensive comparison and ablation experiments on the mainstream datasets NTIRE2022 and NTIRE2020 for the spectral reconstruction task. Compared to the current advanced spectral reconstruction algorithms, our designed algorithm achieves State-Of-The-Art (SOTA) performance. Copyright © 2025, The Authors. All rights reserved.

关键词： Convolutional neural networks

来源：评论

学校读者我要写书评

暂无评论

Simulation Research on Generalized Proportional Integral Observer Based Active Disturbance Rejection control for Coarse Pointing Assembly

Simulation Research on Generalized Proportional Integral Obs...

引用

2024 8th International Conference on Electrical, Mechanical and Computer Engineering (ICEMCE)

作者： Jijun Ma Yulong Guo YuNing Wang Yongkang Shi Beijing Research Institute of Telemetry Beijing China Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Research Institute of Telemetry Beijing China

ISBN: (数字)9798331506230

ISBN: (纸本)9798331506247

The coarse pointing assembly (CPA), as the outer loop of the laser terminal, its tracking stability is the basis for ensuring laser communication. This paper presents the model of the CPA. Aiming at the disturbance factors in the low-speed operation process of the CPA, an active disturbance rejection control (ADRC) method for the position loop of the CPA is designed based on the generalized proportional integral observer (GPIO) to achieve disturbance compensation control. Finally, simulations are carried out on the system model. The simulation results show that compared with the PID control strategy adopted, the proposed ADRC strategy based on GPIO of the CPA can effectively improve the tracking accuracy.

关键词： Robust control Tracking loops Accuracy Simulation Computational modeling Laser stability Observers Laser modes Stability analysis Assembly

来源：评论

学校读者我要写书评

暂无评论

Dynamic Event-Triggered Consensus on Matrix-weighted Networks:Leadless Case

Dynamic Event-Triggered Consensus on Matrix-weighted Network...

引用

第42届中国控制会议

作者： Lintao Dou Haoyu Wei Jian Huang Lulu Pan Haibin Shao Dewei Li the College of Intelligent Science National University of Defense Technology the Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of Chinaand Shanghai Engineering Research Center of Intelligent Control and Management

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 ***,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 *** event-triggered control protocols are proposed to guarantee leaderless consensus for multi-agent systems on matrix-weighted networks,***,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 *** proposed approach allows each agent to broadcast and receive information only at its triggering ***,simulation examples are provided to demonstrate the theoretical results.

关键词：

来源：评论

学校读者我要写书评

暂无评论

RegFormer: An Efficient Projection-Aware Transformer Network for Large-Scale Point Cloud Registration

arXiv

引用

arXiv 2023年

作者： Liu, Jiuming Wang, Guangming Liu, Zhe Jiang, Chaokang Pollefeys, Marc Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai Jiao Tong University China MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University China China University of Mining and Technology China ETH Zürich Switzerland Microsoft United States

Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale registration methods are rarely explored. Challenges mainly arise from the huge point number, complex distribution, and outliers of outdoor LiDAR scans. In addition, most existing registration works generally adopt a two-stage paradigm: They first find correspondences by extracting discriminative local features and then leverage estimators (eg. RANSAC) to filter outliers, which are highly dependent on well-designed descriptors and post-processing choices. To address these problems, we propose an end-to-end transformer network (RegFormer) for large-scale point cloud alignment without any further post-processing. Specifically, a projection-aware hierarchical transformer is proposed to capture long-range dependencies and filter outliers by extracting point features globally. Our transformer has linear complexity, which guarantees high efficiency even for large-scale scenes. Furthermore, to effectively reduce mismatches, a bijective association transformer is designed for regressing the initial transformation. Extensive experiments on KITTI and NuScenes datasets demonstrate that our RegFormer achieves competitive performance in terms of both accuracy and efficiency. Codes are available at https://***/IRMVLab/RegFormer. Copyright © 2023, The Authors. All rights reserved.

关键词： Efficiency

来源：评论

学校读者我要写书评

暂无评论

Semi-Global Leaderless Consensus of Linear Multi-agent systems with Actuator and Communication Constraints

引用

Journal of systems Science & Complexity 2020年第4期33卷 882-902页

作者： WANG Jian SHI Liangren GUAN Xinping Department of Automation and Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Shanghai Key Laboratory of Navigation and Location-based Services and Academy of Information Technology and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

This paper studies the leaderless consensus problems of multi-agent systems with input saturation and intermittent communication over directed networks. Both the state feedback and the output feedback consensus algorithms are developed based on low gain feedback approach. The convergence of the trajectories of all agents can be achieved by these proposed algorithms, if the communication topology has a directed spanning tree, and the intermittent communication period T and time rate ρ are larger than their associated threshold values. Simulation examples are provided to verify the theoretical results.

关键词： agent directed communication

来源：评论

学校读者我要写书评

暂无评论

Invariant Tensor Modeling and Functional Matrix Coding of Flight Dynamics for Nonlinear Aircraft control

Invariant Tensor Modeling and Functional Matrix Coding of Fl...

引用

Chinese control and Decision Conference, CCDC

作者： Tangwen Yin Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China

ISBN: (纸本)9781665478977

Flight trajectory consistence is an important factor influencing mission performance and safety. However, the lack of in-situ flight dynamics with high fidelity remains a challenge to enhance stability and controllability for aircraft maneuver in space, because modeling and coding of predictive system response in control synthesis is difficult to be mathematically formulated and computationally implemented. Here we generalize the invariant tensor modeling of flight dynamics so that its functional matrix coding is adapted to the multivariable nonlinear control of aircraft with augmented stability and controllability; and we verify that the nonlinear functional parameters in control synthesis with unobservable external forces and moments can improve the consistence of flight trajectory. Results demonstrate that the planned flight trajectory can be consistently fulfilled using the nonlinear control synthesized through tensor modeling and matrix coding. In conclusion, invariant tensor modeling facilitates the functional matrix coding of flight dynamics with six degrees of freedom, which can be applied to build the feedback through dimensional analysis for augmented stability and controllability, such that collaborative optimization of nonlinear functional parameters establishes the multivariable nonlinear control to improve the consistence of flight trajectory for sustained performance and continuing safety.

关键词： Analytical models Tensors Atmospheric modeling Computational modeling controllability Encoding Stability analysis

来源：评论

学校读者我要写书评

暂无评论

An Integrated Neural Unmanned system for Multi-Domain Perception and Decision-Making

An Integrated Neural Unmanned System for Multi-Domain Percep...

引用

2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Liu, Qiming Xu, Neng Zhang, Jinpeng Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China Shanghai Jiao Tong University SJTU Paris Elite Institute of Technology Shanghai200240 China Second Academy of China Aerospace Beijing100854 China Key Laboratory of Marine Intelligent Equipment and System Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China

ISBN: (纸本)9781665481090

Most recent intelligent systems study the perception or policy modules independently but ignore the inter-connection between them, which results in low information efficiency and high network redundancy, in the end, leads to the incomplete utilization of network potential and poor system-level end-to-end intelligence. This paper proposes an integrated end-to-end network that adapts to multi-domain inputs and multi-function outputs. 'Integration' is defined in this paper in mainly three aspects: network structure level, optimization level, and functional level. The integrated network architecture is capable of fusing multiple raw sensory inputs and outputting multiple perceptions and decisions simultaneously. We first implement the integrated system in a virtual simulation environ-ment and investigate the domain transformation methods to real world. Comprehensive experiment results in both virtual and real environments show that our proposed system can behave normally under exploration, target-driven navigation and target shooting tasks. © 2022 IEEE.

关键词： Intelligent systems

来源：评论

学校读者我要写书评

暂无评论

Data-Driven Safe controller Synthesis for Deterministic systems: A Posteriori Method With Validation Tests

arXiv

引用

arXiv 2023年

作者： Chen, Yu Shang, Chao Huang, Xiaolin Yin, Xiang Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China The Department of Automation Beijing National Research Center for Information Science and Technology Tsinghua University Beijing100084 China

In this work, we investigate the data-driven safe control synthesis problem for unknown dynamic systems. We first formulate the safety synthesis problem as a robust convex program (RCP) based on notion of control barrier function. To resolve the issue of unknown system dynamic, we follow the existing approach by converting the RCP to a scenario convex program (SCP) by randomly collecting finite samples of system trajectory. However, to improve the sample efficiency to achieve a desired confidence bound, we provide a new posteriori method with validation tests. Specifically, after collecting a set of data for the SCP, we further collect another set of independent validate data as posterior information to test the obtained solution. We derive a new overall confidence bound for the safety of the controller that connects the original sample data, the support constraints, and the validation data. The efficiency of the proposed approach is illustrated by a case study of room temperature control. We show that, compared with existing methods, the proposed approach can significantly reduce the required number of sample data to achieve a desired confidence bound. Copyright © 2023, The Authors. All rights reserved.

关键词： Efficiency

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：