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Risk Assessment Based Time-adjusted Optimization for Safe and Fast Flight of Quadrotor UAVs

IEEE Transactions on Vehicular Technology 2025年

作者： Zhu, Hai Li, Baoquan Yin, Haolin Zhang, Xuebo Tiangong University School of Control Science and Engineering The Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin300387 China Nankai University Institute of Robotics and Automatic Information Systems The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China

Generating an executable reference trajectory in realtime is a core of autonomous navigation for a quadrotor unmanned aerial vehicle (UAV). In the paper, a timeadjusted optimization method is proposed for UAV motion planning to achieve safe and fast flight. Firstly, based on parameterization for uniform B-spline trajectories, relationship of knot spans and UAV speeds is analyzed, and an iterative velocity restrict algorithm is introduced to tackle nonexecutable flight. Subsequently, combining start and target points in local planning, an evaluation criterion function is designed with control points of the above trajectory and directions of collision avoidance. On this basis, risk assessment is conducted according to surrounding environments, where four phases of passing obstacles is constructed by considering risk level variation. Then, the weight function in each phase is determined by relationship of obstacle and planned local trajectory. Moreover, time intervals of B-spline trajectories are adjusted to obtain nonuniform trajectories, so as to affect UAV speeds. Simulation and experiment are conducted with comparison to verify performance of the proposed method. © 2025 IEEE.

关键词： Risk assessment

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A Two-Stage Solution to Quantum Process Tomography: Error Analysis and Optimal Design

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IEEE Transactions on Information Theory 2025年第3期71卷 1803-1823页

作者： Xiao, Shuixin Wang, Yuanlong Zhang, Jun Dong, Daoyi Mooney, Gary J. Petersen, Ian R. Yonezawa, Hidehiro University of New South Wales School of Engineering and Technology CanberraACT2600 Australia University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China The Australian National University School of Engineering CanberraACT2601 Australia Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China The Australian National University CIICADA Laboratory School of Engineering CanberraACT2601 Australia The University of Melbourne School of Physics ParkvilleVIC3010 Australia RIKEN Center for Quantum Computing Saitama351-0198 Japan Centre for Quantum Computation and Communication Technology Australian Research Council CanberraACT2600 Australia

Quantum process tomography is a critical task for characterizing the dynamics of quantum systems and achieving precise quantum control. In this paper, we propose a two-stage solution for both trace-preserving and non-trace-preserving quantum process tomography. Utilizing a tensor structure, our algorithm exhibits a computational complexity of O(MLd2) where d is the dimension of the quantum system and M, L(M≥ d2, L≥ d2) represent the numbers of different input states and measurement operators, respectively. We establish an analytical error upper bound and then design the optimal input states and the optimal measurement operators, which are both based on minimizing the error upper bound and maximizing the robustness characterized by the condition number. Numerical examples and testing on IBM quantum devices are presented to demonstrate the performance and efficiency of our algorithm. © 1963-2012 IEEE.

关键词： Error analysis

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Optimal Sensor Placement for Full-Set TDOA Localization Accounting for Sensor Location Errors

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Zhang, Chengjie Han, Xinyang Kong, He Ho, K.C. Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China University of Missouri Electrical Engineering and Computer Science Department ColumbiaMO65211 United States

The positioning accuracy of a signal source is influenced by where the sensors are deployed. Studies in the literature for the optimal sensor placement (OSP) of localization often ignore the presence of sensor position errors. In practice, however, it is impossible to place the sensors precisely at the desired locations. This work designs OSP by accounting for the presence of Gaussian sensor position errors that are independent and identically distributed (IID), with the full set of Time Difference of Arrival measurements corrupted by Gaussian IID noise. The criterion is the A-optimality equal to the trace of the source position Cramer-Rao Bound (CRB). We show that the presence of sensor position errors introduces a multiplication factor to the same criterion for the case without sensor position errors. The latter factor is dependent on the ratio of the sensor position error power to the range difference noise power but independent of the sensor positions, implying that the A-optimality OSP in the presence of sensor position errors is the same as in the absence. To our knowledge, this is the first time such results have been derived. Simulation studies validate the derived OSP, show the minimal OSP performance gap with sensor positioning error and without, and illustrate the better source localization accuracy by OSP. © 1965-2011 IEEE.

关键词： Cramer-Rao bounds

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Learning Nonlinear Marine Predator Algorithm for Multi-objective Optimization of Setpoints in Wastewater Treatment Operations

Learning Nonlinear Marine Predator Algorithm for Multi-objec...

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Robotics, control and Automation (ICRCA), International Conference on

作者： Jiahua Liu Daoping Huang Yiqi Liu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education the School of Automation Science & Engineering South China University of Technology Guangzhou China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

The nitrogen removal in wastewater treatment plants (WWTPs) usually consumes a significant amount of energy, for example, oxygen injection. To reduce energy consumption while ensure the quality in the effluent of WWTPs, this paper proposes a control strategy based on the Multi-Objective Nonlinear Marine Predator Algorithm (MONMPA). First, to address the unacceptable energy consumption issue due to fixed setpoints in the wastewater treatment process, a multi-objective setpoint optimization scheme is proposed in this paper. Second, to deal with uncontrollable inflow disturbances and uncertainty, a predictive controller with feedforward compensation for inflow disturbances is adopted to further accurately track the optimized setpoints. Finally, the proposed control strategy is compared with other standard approaches, and experimental results showed the effectiveness and superiority of this strategy.

关键词： Energy consumption Uncertainty Simulation Optimization methods Effluents Prediction algorithms Nitrogen Wastewater treatment Standards Robots

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Convergence Analysis of Weighted-Median Opinion Dynamics with Prejudice

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IEEE Transactions on Automatic control 2025年第6期70卷 4155-4162页

作者： Zhang, Ruichang Liu, Zhixin Chen, Ge Mei, Wenjun Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences School of Mathematical Sciences Beijing101408 China Peking University Department of Mechanics and Engineering Science China

The Friedkin-Johnsen (FJ) model introduces prejudice into the opinion evolution and has been successfully validated in many practical scenarios;however, due to its weighted average mechanism, only one prejudiced agent can always guide all unprejudiced agents synchronizing to its prejudice under the connected influence network, which may not be in line with some social realities. To fundamentally address the limitation of the weighted average mechanism, a weighted-median opinion dynamics has been recently proposed;however, its theoretical analysis is challenging due to its nonlinear nature. This paper studies the weighted-median opinion dynamics with prejudice, and obtains the convergence and convergence rate when all agents have prejudice, and a necessary and sufficient condition for asymptotic consensus when a portion of agents have prejudice. These results are the first time to analyze the discrete-time and synchronous opinion dynamics with the weighted median mechanism, and address the phenomenon of the FJ model that connectivity leads to consensus when a few agents with the same prejudice join in an unprejudiced group. © 1963-2012 IEEE.

关键词： Nonlinear simulations

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EBD-YOLO：a lightweight auxiliary driving detection algorithm based on YOLOv5

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Optoelectronics Letters 2025年

作者： SUN Lianshuai SHI Tao DING Yao LI Song Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems， School of Electrical Engineer-ing and Automation， Tianjin University of Technology College of Electrical Engineering， North China University of Science and Technology

A lightweight road-assistant detection algorithm， EBD-YOLO， based on YOLOv5s is proposed to address the problems of high model complexity， computation cost， and difficulty in deployment on resource-limited embedded terminals in existing assisted driving detection algorithms. First， lightweight Transformer model EfficientViT was used as the backbone feature extraction network of YOLOv5s model to reduce network parameters and calculation costs. Secondly， a Focal-GIoU Loss function is proposed for bounding box regression to accelerate model convergence and reduce loss. Thirdly， the feature pyramid structure is improved to a weighted bi-directional feature pyramid network (BiFPN) to enhance localization and semantic features. Then， a dynamic head framework is added to unify the attention mechanism with the object detection head to improve its performance. Finally， a Soft-CIoU＿NMS algorithm is proposed in the post-processing stage to enhance occluded targets' localization and detection ability and reduce the missed detection rate. We conducted experiments on the KITTI and BDD100K datasets for autonomous driving， and the results showed that the EBD-YOLO model reduced in size by 38.4% and 37.2%， respectively. In comparison， the computational cost was reduced by 48.1%. As measured by mAP@0.5， the detection accuracy improved by 0.5% and 5.8%， respectively， and mAP@0.5:0.95 improved by 2.8% and 7%， respectively. These improvements satisfied the requirements for deployment on embedded terminals in cars.

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Robust Finite-Time Containment of Networked Heterogeneous Nonlinear systems with Intermittent Measurement Only

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IEEE Transactions on Network science and engineering 2025年

作者： Tian, Biao Zhang, Hao Cui, Peiyu Wang, Zhuping Yan, Huaicheng Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Tongji University College of Electronic and Information Engineering Department of Control Science and Engineering Shanghai201804 China Ministry of Education Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems China East China University of Science and Technology School of Information Science and Engineering Shanghai200237 China

The robust finite-time containment problem of fully heterogeneous multiagent systems with uncertainties is often challenging, especially when only intermittent output measurement is used. To address the issue posed by the nonidentical system dynamics of multiple leaders, which makes the traditional distributed estimator form for the convex hull inapplicable, a distributed finite-time estimator is constructed for each follower to extract the system matrices and states of leaders. Then, in the output-triggering setting, a finite-time extended state observer driven by intermittent output measurement is developed to reconstruct the uncertainties and unmeasurable states of followers. Meanwhile, the non-continuous output measurement will lead to the differentiation of virtual control laws undefined. To solve this issue, a filtering compensation scheme-based finitetime controller via the backstepping technique is developed for nonlinear followers, ensuring practical finite-time stability (PFTS) of the closed-loop system. It is shown that the proposed algorithm steers each follower into the preset convex combination spanned by the positions of multiple leaders. The capability of the exploited control protocol is verified through simulations and experiments. 2013 IEEE.

关键词： Backstepping

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Interaction between vortex shedding and flap oscillation in separation control of a stalled aerofoil

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Aerospace science and Technology 2025年 163卷

作者： Yang, Yannian Li, Pengyu Zhou, Yongsheng Zhou, Tao Liu, Yu Pröbsting, Stefan Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South China University of Technology Guangzhou510640 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen518055 China

Flow control for lifting surfaces at high angle of attack is essential to increase the lift coefficient. Inspired by covert feathers of birds, a passive rotatable flap is added to the suction surface of an aerofoil to analyze its effectiveness and flow control mechanism from the perspective of fluid structure interaction. The lift coefficients of the aerofoil are measured by a balance, increasing near the stall angle and reaching maximum augmentation of 25% with the flap. Particle image velocimetry measurements show that the transition of trailing edge shear layer to vortex shedding occurs later due to the flap, and the separation zone becomes smaller, which work together to enhance the lift-to-drag ratio. Flap movement is influenced by unsteady trailing edge vortex shedding, with the flap pop-up angle increasing together with the aerofoil angle of attack and reaching a maximum value around 84∘, beyond which it decreases again. Moreover, the experimental data observes the low frequency flow pulsation and flap oscillation in addition to the high frequency trailing edge vortex shedding, which has a modulation effect on the flow fluctuation and flap oscillation magnitude. © 2025 Elsevier Masson SAS

关键词： Vortex shedding

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PAGNet: Pluggable Adaptive Generative Networks for Information Completion in Multi-Agent Communication

arXiv

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arXiv 2025年

作者： Zhang, Zhuohui Cheng, Bin Wang, Zhipeng Zhou, Yanmin Li, Gang Lu, Ping He, Bin Chen, Jie Department of Control Science & Engineering Tongji University Shanghai201804 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai201203 China

For partially observable cooperative tasks, multiagent systems must develop effective communication and understand the interplay among agents in order to achieve cooperative goals. However, existing multi-agent reinforcement learning (MARL) with communication methods lack evaluation metrics for information weights and information-level communication modeling. This causes agents to neglect the aggregation of multiple messages, thereby significantly reducing policy learning efficiency. In this paper, we propose pluggable adaptive generative networks (PAGNet), a novel framework that integrates generative models into MARL to enhance communication and decision-making. PAGNet enables agents to synthesize global states representations from weighted local observations and use these representations alongside learned communication weights for coordinated decision-making. This pluggable approach reduces the computational demands typically associated with the joint training of communication and policy networks. Extensive experimental evaluations across diverse benchmarks and communication scenarios demonstrate the significant performance improvements achieved by PAGNet. Furthermore, we analyze the emergent communication patterns and the quality of generated global states, providing insights into operational mechanisms. Copyright © 2025, The Authors. All rights reserved.

关键词： Generative adversarial networks

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Green Routing Game: Pollution-Aware Mixed Fleet Logistics with Shared Charging Facilities

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IEEE Transactions on Automatic control 2025年

作者： Sasahara, Hampei Dan, Gyorgy Amin, Saurabh Sandberg, Henrik Institute of Science Tokyo Department of Systems and Control Engineering Tokyo152-8552 Japan KTH Royal Institute of Technology Division of Network and Systems Engineering StockholmSE-100 44 Sweden Massachusetts Institute of Technology Laboratory of Information and Decision Systems CambridgeMA02139 United States KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-100 44 Sweden

Eco-friendly freight operations are crucial for decarbonizing the transportation sector. Systematic analysis of policy measures requires a principled modeling approach. While the commonly used model referred to as routing game considers the congestible nature of transportation facilities, exiting models fail to account for environmental factors. This paper aims at providing a mathematical framework to study strategic interaction between owners of mixed fleets comprising of both internal combustion engine vehicle (ICEV) and electric vehicle (EV) trucks. This study introduces a "green"routing game with incomplete information that models strategic interaction among multiple logistic operators. These players face a pollution tax imposed on ICEVs and a potential delayed delivery cost due to EV charging requirements with uncertainty. In contrast to existing models, this novel model captures the players' trade-off between lengthier congestion delay at charging stations as the share of EV trucks increases and higher pollution costs with increased ICEVs usage, with uncertainty determined by a latent state. We first provide equilibrium characterization and present a condition for essential uniqueness. We show that this equilibrium can be computed in a distributed manner using a gradient projection method. We then introduce a public information system that broadcasts real-time information about the latent state. Importantly, we analyze value of information for providing a condition for the public information to be beneficial. Finally, we present numerical examples to illustrate settings where environmental taxation and information dissemination can improve social welfare. © 1963-2012 IEEE.

关键词： Trucks

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