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2021 China Automation Congress, CAC 2021

作者： Pan, Lulu Wang, Chongzhi Shao, Haibin Li, Dewei Xi, Yugeng The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9781665426473

In this work, we consider the consensus problem of the multi-agent system over matrix-weighted networks using an event-triggered mechanism. An event-triggered coordination strategy is proposed to steer this generalized category of multi-agent systems towards the bipartite consensus state. The triggering condition is periodically checked and distributed in the sense that the event detector only uses neighbors' information and local computation at discrete sampling instants. Moreover, it is shown that the triggering condition is closely related to the spectrum of matrix-valued weights corresponding to the edges in the matrix-weighted network. In the meantime, the Zeno phenomenon can be avoided automatically under the proposed event trigger approach. © 2021 IEEE

关键词： Multi agent systems

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DSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spatio-temporal Propagation

arXiv

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arXiv 2024年

作者： Zhang, Huixin Wang, Guangming Wu, Xinrui Xu, Chenfeng Ding, Mingyu Tomizuka, Masayoshi Zhan, Wei Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom UC Berkeley BerkeleyCA94720 United States

This paper introduces a 3D point cloud sequence learning model based on inconsistent spatio-temporal propagation for LiDAR odometry, termed DSLO. It consists of a pyramid structure with a spatial information reuse strategy, a sequential pose initialization module, a gated hierarchical pose refinement module, and a temporal feature propagation module. First, spatial features are encoded using a point feature pyramid, with features reused in successive pose estimations to reduce computational overhead. Second, a sequential pose initialization method is introduced, leveraging the high-frequency sampling characteristic of LiDAR to initialize the LiDAR pose. Then, a gated hierarchical pose refinement mechanism refines poses from coarse to fine by selectively retaining or discarding motion information from different layers based on gate estimations. Finally, temporal feature propagation is proposed to incorporate the historical motion information from point cloud sequences, and address the spatial inconsistency issue when transmitting motion information embedded in point clouds between frames. Experimental results on the KITTI odometry dataset and Argoverse dataset demonstrate that DSLO outperforms state-of-the-art methods, achieving at least a 15.67% improvement on RTE and a 12.64% improvement on RRE, while also achieving a 34.69% reduction in runtime compared to baseline methods. Our implementation will be available at https://***/IRMVLab/DSLO. © 2024, CC BY-NC-ND.

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An Integrated Scheduling Algorithm of Satellite Observation and Data Download Based on Multi-Agent Deep Reinforcement Learning

An Integrated Scheduling Algorithm of Satellite Observation ...

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Chinese Automation Congress (CAC)

作者： Kang Chen Shaochong Du Hong Huo Tao Fang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Centre of Intelligent Control and Management Shanghai China

The earth observation satellite scheduling has always been critical for the maximum use of limited satellite resources, which basically includes scheduling ground target observation and observation data downloading. Due to the complexity of the mathematical model and its NP-hardness, current research usually splits it into two problems to simplify the model. In this paper, we propose a model of the integrated scheduling problem of satellite observation and data downloading (ISP-SODD) based on the decentralized partially observable Markov decision process (Dec-POMDP), treating each satellite as an agent with autonomous decision-making capability. A multi-agent deep reinforcement learning-based (MADRL-based) algorithm is proposed to solve it. A series of simulation experiments of different scales validate the effectiveness of the method and its advantages compared with the traditional heuristic algorithms. To the best of our knowledge, this study is the first attempt to apply multi-agent reinforcement learning to a multi-satellite scheduling scenario with downloading considerations.

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A New Dual-Population Evolutionary Algorithm Leveraging Objective-Constraint Relationships for Constrained Multi-Objective Optimization

SSRN

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SSRN 2025年

作者： Ye, Jialu Tan, Chaogui Xia, Yizhang Hou, Zhanglu Liu, Yuan Zou, Juan Hunan Engineering Research Center of intelligent System Optimization and Security Key Laboratory of Intelligent Computing and Information Processing Ministry of Education Hunan National Applied Mathematics Center China Xiangtan University China

Population co-evolution strategies are widely used to handle constrained multi-objective optimization problems (CMOPs). However, existing coevolutionary algorithms oversimplify population collaboration and are rigid in evolving the auxiliary population, ignoring the importance of maintaining population diversity, especially for CMOPs with irregular feasible regions. To tackle this issue, we propose a new dual-population evolutionary algorithm, denoted as AACMO, which attempts to mine the relational features between the unconstrained Pareto front (UPF) and the constrained Pareto front (CPF) to better adapt to CMOPs with various constraints. Specifically, the method is categorized into two phases: a learning phase and an evolving phase. First, the main population (MP) aims to quickly learn the relationships between the UPF and the CPF by leveraging the advantages of different operators, namely, genetic algorithm operators and differential evolution operators, during the learning phase. Secondly, two auxiliary strategies are designed to collaborate with the MP during the evolving phase. These strategies are capable of employing a more effective co-evolution method to assist the MP in maintaining diversity, based on the degree of alignment between the learned UPF and CPF at the end of the learning phase. The effectiveness of AACMO is confirmed through comparative analysis with eight state-of-the-art algorithms across four CMOP benchmark suites. © 2025, The Authors. All rights reserved.

关键词： Optimization algorithms

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Emission Evaluation for Diesel Vehicles under Typical Operating Conditions 8

Emission Evaluation for Diesel Vehicles under Typical Operat...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Li, Jiaren Xu, Zhenyi Cao, Yang Xia, Xiushan Kang, Yu Anhui University AHU-IAI AI Joint Laboratory Hefei230601 China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai200240 China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Hefei230088 China University of Science and Technology of China Department of Automation Hefei230026 China Institute of Advanced Technology University of Science and Technology of China Hefei230088 China

ISBN: (纸本)9798350300178

China's ambient air quality has improved significantly as a result of the formulation and implementation of the Action Plan for the Prevention and control of Air Pollution and the Three-Year Action Plan for Winning the Blue Sky Defense War, but the air pollution problem in key regions remains severe, diesel truck pollution has not been effectively addressed, and mobile sources are an important source of nitrogen oxide emissions. The existing diesel vehicle emission model is primarily divided based on average vehicle speed and VSP binning methods, and it lacks an instantaneous vehicle speed model. This paper collected data from 10 diesel vehicles in order to accurately evaluate driving conditions and promote energy saving and emission reduction of heavy-duty diesel vehicles. Then we extracted 51,925 kinematic fragment data after cleaning abnormal data and built a kinematic feature evaluation system of diesel vehicles closely related to NOx emission. The sample data of kinematic segments were clustered into two groups of low-speed conditions and medium-speed conditions using the standardized mutual information to extract the characteristics with strong correlation with NOx and the vehicle driving conditions assessment model of cluster analysis. From the clustering results, the high NOx emission is completely classified into the low-speed working condition, which matches the conclusion that the high NOx emission region appears in the low-speed acceleration region reached by previous researchers through experimental studies, indicating that the kinematic feature evaluation model of diesel vehicles established in this paper is reasonable and effective. © 2023 IEEE.

关键词： Cluster analysis

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A detection method for granary storage states based on a support vector machine and domain knowledge

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Acta Agriculturae Scandinavica Section B: Soil and Plant Science 2021年第1期71卷 45-51页

作者： Zhang, Dexian Cheng, Cong Zhang, Miao College of Information Science and Engineering Henan University of Technology Zhengzhou China Key Laboratory of Grain Information Processing and Control Ministry of Education Henan University of Technology Zhengzhou China

Automatic detection of granary storage states is an important technology to ensure national food security. In view of distribution characteristics of bottom pressure, this study theoretically explored a relationship between detected value of bottom pressure of granaries and granary storage states through the technologies, such as integrated learning and nonlinear regression. On this basis, this research built layout models of single-ring pressure sensors on the bottom of granaries and proposed a detection method for granary storage states based on domain knowledge of statistics of bottom pressure in granaries. The experiment demonstrates that the detection method for granary storage states based on a support vector machine (SVM) and domain knowledge shows high detection accuracy and low requirements for sensor performance and low detection cost. Therefore, it can meet the needs of remote online detection of granary storage states usually used. © 2020 Informa UK Limited, trading as Taylor & Francis Group.

关键词： detection accuracy Detection of granary storage state domain knowledge food security support vector machine

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Pose Estimation of Moving Vehicles Based on Heuristic Rules for Autonomous Driving

Pose Estimation of Moving Vehicles Based on Heuristic Rules ...

引用

2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： He, Yuesheng Zhang, Wei Yang, Ming The 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 Shenzhen Deeproute.ai Co. Ltd China

ISBN: (纸本)9781665481090

Estimating the pose information on moving vehi-cles is one of the most fundamental functions of autonomous driving for detecting and tracking moving objects. The current methods are often based on the prior information of the point cloud distribution, however, the distribution in the actual scene changes dynamically, and is easy not to meet a priori. This paper proposes a 3D pose estimation method based on heuristic rules. In a single frame point cloud, the edge length and edge visibility are used to heuristically screen the candidate orientations established by the convex hull sampling method. On consecutive frame point clouds, tracking heuristics are employed to obtain smoother orientation estimation results. The experimental results on the KITTI dataset and the data from the actual scene of vehicles show that the proposed method reduces the average object-orientation error and improves the accuracy of estimation effectively. © 2022 IEEE.

关键词： Autonomous vehicles

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A Pricing Rule for Third-Party Platoon Coordination Service Provider

arXiv

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arXiv 2022年

作者： Bai, Ting Johansson, Alexander Li, Shaoyuan Mårtensson, Jonas The Key Laboratory of System Control and Information Processing Ministry of Education The Department or Automation Shanghai Jiao Tong University Shanghai200240 China

We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges the trucks in exchange for its services. This paper studies one class of pricing rules, where the third-party service provider keeps part of the platooning profit each time a platoon is formed. Furthermore, we propose a platoon coordination solution based on distributed model predictive control in which the pricing rule is integrated. To evaluate the effect of the pricing on the platooning system, we perform a simulation over the Swedish road network. The simulation shows that the platooning rate and profit highly depend on the pricing. This suggests that pricing needs to be set carefully to obtain a satisfactory platooning system in the future. Copyright © 2022, The Authors. All rights reserved.

关键词： Profitability

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Learning Knowledge Evolution with Time Duration from Finer-Time-Granularity Temporal Knowledge Graph

Learning Knowledge Evolution with Time Duration from Finer-T...

引用

Chinese Automation Congress (CAC)

作者： Shaochong Du Kang Chen Shijie Yang Hong Huo Tao Fang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Centre of Intelligent Control and Management Shanghai China

How to represent the temporal information corresponding to each fact in temporal knowledge graphs (TKGs) effectively is always challenging. Most existing representation learning methods usually map the timelines of knowledges into multiple points and ignore the underlying continuous time property and periodic characteristics behind those dense timestamps in finer-time granularity temporal knowledge graphs. A novel Knowledge Evolution with Time Duration (KETD) model is proposed for knowledge representation of temporal knowledge graphs with finer-time granularities. It represents the entity embedding as a time-varying nonlinear function to find the specific continuous time property from dense timestamps. To the best of our knowledge, it is the first attempt to learn embeddings of time durations and combines them into embeddings of entities and relations to predict potential periodic facts. It also uses the temporal point process to capture the impact of historical facts on the current fact. The experiments on self-built finer-time granularity TKG of Satellite-to-Earth Communication (STEC) and two public datasets have demonstrated the superiority of KETD compared to some baseline approaches.

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Hybrid Traffic Scheduling Based on Adaptive Time Slot Slicing in Time-Sensitive Networking

Hybrid Traffic Scheduling Based on Adaptive Time Slot Slicin...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Shouliang Wang Qimin Xu Yanzhou Zhang Lei Xu Cailian Chen Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China

ISBN: (纸本)9781728119496

The development of the Industrial Internet of Things (IIoT) is increasingly relying on the low-latency and low-jitter information exchange. Time-Sensitive Networking (TSN) guarantees the deterministic transmission by a set of mechanisms, such as Time-Aware Shaper (TAS) and Cyclic Queuing and Forwarding (CQF). However, the deterministic scheduling of hybrid traffic with different Quality of Service (QoS) is still unresolved since traffic performance is hard to meet by a single mechanism or an integrated mechanism with fixed time slot. In this paper, to realize the low-latency and low-jitter hybrid traffic scheduling, an adaptive time slot slicing (ATSS) method is proposed integrating TAS and CQF. With dynamically slicing the time slot to centralize time-triggered (TT) traffic, ATSS eliminates the irregular distribution of TT flow to support multi-hop networks. A resource calculation method based on slot occupancy judgment is devised to reduce the scheduling complexity, which raises the analysis objects into flows instead of frames. To reduce the complexity further, an incremental algorithm with the search boundary of resources is designed. The evaluation results show that ATSS reduces the jitter by 12 times and time cost by 200 times when handling over 125 mixed flows in different network topologies compared to previous work.

关键词： Adaptive scheduling Job shop scheduling Costs Network topology Quality of service Spread spectrum communication Jitter

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