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6th IEEE International Conference on Pattern Recognition and Artificial Intelligence, PRAI 2023

作者： Wang, Ziwei Yang, Yanjiao Qu, Guangzhou Chi, Qingxi Beijing Electro-Mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9798350325485

Synthetic aperture radar (SAR) image registration is widely used in integrated navigation system with development of guidance system in sensors and other applications. However, there exists some difficulty because of the quality and imaginary principle of SAR images. In this article, a brand-new method based on feature points using improved CSP-DenseNet is proposed to solve the problems of SAR image registration with weak and noisy texture. Deep features of interest points in SAR images are extracted using the proposed network from the crops of search image and template image respectively. The method has an advantage of preserving abundant feature information in SAR images under the influence of insufficient image information and noise of SAR images. The CSP-DenseNet architecture has a cross-stage construction optimizing fused by CSP-Net and DenseNet to extract matching features. The network is partially connected in specific convolutional layers for feature reusing and computation resources saving. Then, Brute Force Matcher and RANSAC voting are successively applied for a larger number of matching pairs and high-precise matching vertexes. Experimental results on various SAR image matching methods show that the proposed method provides better performance than other approaches compared. © 2023 IEEE.

关键词： Synthetic aperture radar

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Aircraft Attitude Control on High-order Fully Actuated system Theory

Aircraft Attitude Control on High-order Fully Actuated Syste...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Xinyu Liu Mingrui Hao Yu Fan Yan Zhen Yutao Zhuang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory

In this paper, a second-order fully actuated system model is derived for a six degree of freedom aircraft model with control coupling. Then a three channel joint optimal attitude control method of roll, yaw and pitch is designed on high-order fully actuated system theory. Through mathematical simulation of this controller and the traditional PID controller, it is shown that the PID control method has a great shortage in the aircraft with control coupling, and the fully actuated system theory control method can well solve the problem of aircraft coupling, achieve the stable tracking of aircraft attitude command, and has better rapidity.

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Scribble-Supervised Video Object Segmentation

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 339-353页

作者： Peiliang Huang Junwei Han Nian Liu Jun Ren Dingwen Zhang Brain and Artificial Intelligence Laboratory School of AutomationNorthwestern Polytechnical UniversityXi’an 710072China IEEE Department of Engagement Services Mohamed Bin Zayed University of Artificial IntelligenceAbuDhabiUnited Arab Emirate Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory BeijingChina

Recently,video object segmentation has received great attention in the computer vision *** of the existing methods heavily rely on the pixel-wise human annotations,which are expensive and time-consuming to *** tackle this problem,we make an early attempt to achieve video object segmentation with scribble-level supervision,which can alleviate large amounts of human labor for collecting the manual ***,using conventional network architectures and learning objective functions under this scenario cannot work well as the supervision information is highly sparse and *** address this issue,this paper introduces two novel elements to learn the video object segmentation *** first one is the scribble attention module,which captures more accurate context information and learns an effective attention map to enhance the contrast between foreground and *** other one is the scribble-supervised loss,which can optimize the unlabeled pixels and dynamically correct inaccurate segmented areas during the training *** evaluate the proposed method,we implement experiments on two video object segmentation benchmark datasets,You Tube-video object segmentation(VOS),and densely annotated video segmentation(DAVIS)-*** first generate the scribble annotations from the original per-pixel ***,we train our model and compare its test performance with the baseline models and other existing *** experiments demonstrate that the proposed method can work effectively and approach to the methods requiring the dense per-pixel annotations.

关键词： Convolutional neural networks(CNNs) scribble self-attention video object segmentation weakly supervised

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Improved A∗Algorithm based on Multi-Layers and Multi-Constraints 23

Improved A∗Algorithm based on Multi-Layers and Multi-Constr...

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4th International Conference on Artificial Intelligence in Electronics Engineering, AIEE 2023

作者： Han, Jian Zhou, Lili Tong, Jiahui Sun, Shiguo Hou, Mingyun Beijing Electro-Mechanical Engineering Institute China and Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781450399517

In this study, an improved A∗algorithm based on multi-layers and multi-constraints is proposed for solving the problem that A∗algorithm must detour when encounters obstacles due to the deficiency of vertical dimension. Detailed obstacle classification and shift method among layers are introduced to make the mathematical environment closer to the real environment and support the calculation of proposed cost function. In the procedure of planning, more interested points are taken into consideration to increase the opportunity of find more reasonable path and achieve lower route cost during approaching the target. Shared forbidden area and shift cost mechanism are set to make sure the trend is right without shift too often. The improved algorithm can provide a better and flexible solution to cross obstacles other than make a detour, so the optimal route find by it has a shorter length than that by the traditional one. © 2023 ACM.

关键词： Cost functions

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A Method for Marine Ship Formation Intention Recognition based on BiConvLSTM-Attention 3

A Method for Marine Ship Formation Intention Recognition bas...

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3rd International Conference on Electronic Information Engineering and Computer science, EIECS 2023

作者： Xi, Yunqiao Zhang, Junping Liu, Jian Wang, Linlin Xu, Hongfeng Chen, Linxiu Jiang, Jixiang Harbin Institute of Technology School of Electronics and Information Engineering Harbin China Institute of Electrical and Mechanical Engineering Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350316674

To solve the problem that current dynamic intention recognition methods fail to make full use of time domain variation information between multi-temporal group targets, which leads to low accuracy of intention recognition. This paper proposes a bidirectional convolutional long short term memory-attention network for marine formation target intention recognition. The network takes the multi-source trajectory data of the marine ship formation target as the input, extracts and uses the target change rule and time domain characteristics of the Marine formation data, and trains the model to have the ability to independently learn the weight of information in different time periods. The simulation results show that the method has good performance and can meet the needs of practical application. © 2023 IEEE.

关键词： intention recognition long short-term marinship formation temporal features

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Research on Simulation Method of Space-Ground Consistency for UAV Cluster Combat

Research on Simulation Method of Space-Ground Consistency fo...

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Qing, Zhang Jing, Li Jiahui, Tong Jian, Han Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electromechanical Engineering Institute Beijing China

ISBN: (纸本)9789811694912

The Space-ground consistency of the unmanned aerial vehicle (UAV) cluster combat distributed interactive simulation system is the fundamental guarantee to simulate and reproduce the authenticity and correctness of UAV cluster combat mission, combat environment and combat process. This paper analyzes the common inconsistency problems of UAV cluster combat distributed simulation system, gives the technical connotation of the space-ground consistency of UAV cluster combat simulation, deeply analyzes all kinds of factors that affect the consistency of UAV cluster combat simulation space and ground, and puts forward the control methods of time-space consistency of UAV cluster combat simulation system, the control strategies and suggestions of model consistency and service consistency. It provides a theoretical basis and technical support for the construction of distributed interactive simulation system for UAV cluster combat. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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UAV Training Control and Evaluation Method Based on Dynamic Task Construction 17th

UAV Training Control and Evaluation Method Based on Dynamic ...

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17th Chinese intelligent systems Conference, CISC 2021

作者： Tong, Jiahui Zhang, Qing Ran, Jian Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electromechanical Engineering Institute Beijing China

ISBN: (纸本)9789811663277

In view of the problems such as high cost, low training efficiency and lack of versatility, a design scheme of UAV simulation training system based on dynamic mission construction is proposed, and the reproducing dynamic mission environment simulation technology and UAV training control and result evaluation and method are described in detail. The evaluation system of UAV simulation training results based on multi-factor influence data is constructed, which can effectively guide the simulation training of multi-type UAV and improve the overall training effect of UAV operators by synthesizing historical training data and real-time training data. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Multi-UAV Cooperative Path-Planning Under complex Threat Environment

Multi-UAV Cooperative Path-Planning Under Complex Threat Env...

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Chinese Control Conference (CCC)

作者： Zhenchang Liu Yuting Liu Hongyin Zhao Hanchen Lu Mingrui Hao Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing

This paper proposes a cooperative path-planning method based on multi-Dubins path segments to meet the penetration requirements of UAVs in a complex threat environment. A pruning strategy is used in path-planning to sift path segments, and the diversity of threat avoidance paths is considered under a reasonable calculation amount. A threat intrusion strategy is designed for no safety path condition, which makes the cooperative path-planning method have excellent robustness. A cooperative path optimization method based on particle swarm optimization is adopted for the path length and collision avoidance requirements. The simulation results show that the UAV cooperative paths can avoid the threat area under any starting and ending points, and path lengths are close to the expected length.

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Transformer based Online Continuous Multi-Target Tracking with State Regression 12

Transformer based Online Continuous Multi-Target Tracking wi...

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12th IEEE International Conference on Control, Automation and Information sciences, ICCAIS 2023

作者： Wei, Xinwei Chen, Linxiu Zhang, Chenyu Lin, Yiru Zhang, Linao Liu, Xiaokai Jiang, Jixiang Yi, Wei University of Electronic Science and Technology of China School of Information and Communication Engineering China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China University of Electronic Science and Technology of China Research Institute of Electronic Science and Technology China

ISBN: (纸本)9798350328783

Multi-target Tracking (MTT) is the process of processing received measurements to maintain estimates of the current status of multiple targets, with important applications to autonomous driving, aerial reconnaissance, underwater operations, and others. In the model-based setting, Bayesian filtering can provide the theoretical optimal estimate in a single target scenario. However, in complex situations, uncertain factors such as changes in the number of targets will cause the amount of calculation to increase exponentially, resulting in a decline in tracking accuracy. To solve that problem, model-free methods based on deep-learning provide an attractive alternative, especially the state-of-the-art architecture Transformer based encoder-decoder prediction model, which outperforms the Bayesian filters in the single frame prediction tasks. However, when switching to continuous tracking, these algorithms need to be trained separately frame by frame to adapt to the new tasks. Still, there is no correlation between their predictions from different frames, which prevents them from fully utilizing all the measurements. In this paper, we propose an end-to-end Transformer based MTT method with state autoregression, which allows the model to have the capability of online continuous tracking and make total use of the entire trajectory. The results show that the proposed model is a great extension from single-frame prediction to online continuous tracking. © 2023 IEEE.

关键词： Forecasting

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Parametric Approach to Missile Formation Control

Parametric Approach to Missile Formation Control

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Yutao Zhuang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing

Under the condition of strong connectivity, the formation keeping problem of missile formation based on high-order fully actuated system is studied. The time-varying controller of the system is designed for the formation tracking of missile formation and disturbance suppression by upgrading the first-order model to the second-order model and using the parametric approach. The numerical simulation experiments of the system are completed with the introduction of bounded random disturbances. The motion trajectory, position tracking error, velocity tracking error and control force output of the missile formation are analyzed, and the final steady-state error is basically stabilized within 0.1, and the control force is controlled at about 2000 N during the formation holding phase.

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