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2020 2nd International Conference on Computer Modeling, Simulation and Algorithm, CMSA 2020

作者： Kong, Xiaodi Pan, Bin Cherkashin, Evgeny Zhang, Xiaoyang Liu, Linke Hou, Jian School of Computer and Communication Engineering Liaoning ShiHua University Fushun China School of Science Liaoning ShiHua University Fushun China Matrosov Institute for System Dynamics Control Theoiry of SB RAS Novosibirsk Russia

Path planning is an important part of UAV intelligent control technology. For the current UAV path planning, the A∗ algorithm has a large memory overhead during the planning process, and the search speed is slow. It cannot meet the path planning in a complex three-dimensional environment. The immediacy requirement and considering the constraints are less, this paper made the following improvements to the A∗ algorithm. The first, combining an anytime repair search framework with a weighted A∗ algorithm, it is possible to quickly find a feasible path during the search process. The second, aiming at the defect of relying on low heuristic function weights in the algorithm, a double ranking criterion is proposed to improve the efficiency of the algorithm approaching the optimal path in the iterative process. And third, to reduce the number of node expansions in the planning process, increase list storage constraints have been improved. Finally, the results of simulation experiments show that the improved algorithm proposed in this paper can quickly generate feasible paths, and can continuously optimize the approach to the optimal path within a specified time, which is far superior to the traditional A∗ algorithm in terms of planning efficiency and immediacy. © Published under licence by IOP Publishing Ltd.

关键词： Motion planning

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Coordinated Recharging of Heterogeneous Mobile Robot Teams during Continuous Large Scale Missions*

Coordinated Recharging of Heterogeneous Mobile Robot Teams d...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Maksim Kenzin Igor Bychkov Nikolai Maksimkin Institute for System Dynamics and Control Theory Irkutsk Russia Institute for System Dynamics and Control Theory of Siberian Branch Russian Academy of Sciences Irkutsk Russia

ISBN: (数字)9781728159539

ISBN: (纸本)9781728159546

Currently, the coordinated use of autonomous mobile robot teams seems to be one of the most promising and ambitious technologies to provide an efficient solution to a range of economic, military, and environmental problems. Complex large-scale operations in different vast and dynamic environments usually involve long stay activities of vehicles under the limited battery capacity. Since it is not always possible to replace low-battery robots with functionally equivalent, but fully recharged vehicles on schedule, available charging stations on-site are required for long-term mission success. In this context, a reasonable recharging schedule must be generated to maintain continuous and uninterruptible mission implementation. It should be taken into account, that the real-world multi-vehicle systems are partially self-contained and could be subjected to any malfunctions or unforeseen events and thus should be able to adjust the current strategy autonomously if needed. Summarizing the above, two following problems have to be handled at once: to determine the reasonable recharging order for the team over the extended time and to ensure the possibility of regular communication sessions within the *** this paper, we propose the high-level dynamic mission planner based on the rendezvous point-selection scheme. The idea is to represent a mission as a sequence of time-limited operating periods with final group rendezvous at the end of each period. The planning problem here is to allocate each rendezvous point and assign it to an event of either communication or regrouping (robots leaving the group for recharging or joining the group after recharging) nature to achieve regular recharging in preferably alternate order. While doing this, the group's parametric and functional heterogeneity should be taken into account to ensure the working squad's maximal performance capabilities. We propose the hybrid evolutionary approach to implement the suggested planner using specialized

关键词： Robots Task analysis Schedules Batteries Reliability Vehicle dynamics Robot sensing systems

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Non-convex optimization in digital pre-distortion of the signal

arXiv

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arXiv 2021年

作者： Pasechnyuk, Dmitry Maslovskiy, Alexander Gasnikov, Alexander Anikin, Anton Rogozin, Alexander Gornov, Alexander Vorobyev, Andrey Yanitskiy, Eugeniy Antonov, Lev Vlasov, Roman Nikolaeva, Anna Begicheva, Maria Moscow Institute of Physics and Technology Dolgoprudny Russia Matrosov Institute for System Dynamics and Control Theory Irkutsk Russia Huawei Russian Research Institute Moscow Russia Institute for Information Transmission Problems RAS Russia Russia Caucasus Mathematical Center Adyghe State University Russia Skolkovo Institute of Science and Technology Russia

In this paper we give some observation of applying modern optimization methods for functionals describing digital predistortion (DPD) of signals with orthogonal frequency division multiplexing (OFDM) modulation. The considered family of model functionals is determined by the class of cascade Wiener-Hammerstein models, which can be represented as a computational graph consisting of various nonlinear blocks. To assess optimization methods with the best convergence depth and rate as a properties of this models family we multilaterally consider modern techniques used in optimizing neural networks and numerous numerical methods used to optimize non-convex multimodal functions. The research emphasizes the most effective of the considered techniques and describes several useful observations about the model properties and optimization methods behavior. Copyright © 2021, The Authors. All rights reserved.

关键词： Orthogonal frequency division multiplexing

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Digital platform for forest resources monitoring in the BAIKAL natural territory

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Journal of Physics: Conference Series 2021年第1期1864卷

作者： I V Bychkov G M Ruzhnikov R K Fedorov A K Popova Matrosov Institute for System Dynamics and Control Theory SB RAS Irkutsk Russia

Forest is the most important natural resource of the Baikal natural territory (BNT), which ensures sustainable development of the ecological system of the Lake Baikal, performing water protection, soil protection and water regulation functions. The article describes the issues of transition to a new technological order - the creation of a digital monitoring platform to support the rational use of forests. We formulate characteristics of the current state of forests and analyze the problems of forest resources monitoring in the BNT. We consider the types of digital platforms of different levels and propose basic requirements for forest digital monitoring.

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PCF-based formalization of the parallel composition of automata 1

PCF-based formalization of the parallel composition of autom...

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1st International Workshop on Information, Computation, and control systems for Distributed Environments, ICCS-DE 2019

作者： Davydov, Artem Larionov, Aleksandr Nagul, Nadezhda Matrosov Institute for System Dynamics and Control Theory of the Siberian Branch of the Russian Academy of Sciences 134 Lermontov str. Irkutsk664033 Russia

The paper demonstrates how the automatic theorem proving technique of the PCF calculus is applied to construct parallel composition of automata. Parallel composition plays an essential role in the supervisory control theory at different stages of systems and supervisors design. Improved formalization of discrete event systems as positively-constructed formulas along with auxiliary predicates, serving for accessibility of the automaton checking, simplify parallel composition construction. Copyright © 2019 for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).

关键词： Discrete event simulation

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Transient process modeling in micrologistic transport systems

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IOP Conference Series: Earth and Environmental Science 2021年第1期629卷

作者： M L Zharkov A L Kazakov A A Lempert Matrosov Institute for System Dynamics and Control Theory of SB RAS Irkutsk Russia

Micrologistic transport systems are ports, transport hubs, railway terminals (railway stations and marshalling yards), and other micro-level transport objects. Such systems are dynamic ones, whose parameters are time-dependent. Consequently, transient processes appear. These processes last for some time and then subside. Then the system goes into a stationary mode of operation. To solve most engineering problems, it is sufficient to find the stationary characteristics of the system. However, some problems require knowledge of the properties of transients. In this paper, we use the previously presented technology for modeling the operation of micrologistic transport systems to study transients in various transport objects. We consider two types of micrologistic transport systems, such as passenger and cargo, and design their models in the form of two-phase and three-phase queuing systems with BMAP flows. For these queuing systems, we compile Kolmogorov systems of ordinary differential equations. Their analytical study is difficult; therefore, to solve such systems, we use numerical methods. Overall, we find the transition probabilities of system states. We compare the obtained probabilities with stationary characteristics, which allows us to draw conclusions about the properties of transients in the considered systems.

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BV solutions of rate independent processes driven by impulsive controls

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IFAC-PapersOnLine 2018年第32期51卷 361-366页

作者： Samsonyuk, Olga N. Timoshin, Sergey A. Matrosov Institute for System Dynamics and Control Theory of SB RAS Irkutsk Russia

An extension to discontinuous inputs of bounded variation of the play operator is presented. The motivation for such an extension comes from optimal impulsive control problems with hysteresis. The latter is introduced by means of variational inequalities modeling the action of the play operator on the BV-inputs. Our extension is applied to the graph completions of BV-functions and it allows us to study impulsive control systems characterized by measure-driven differential equations with nonlinear terms of hysteresis type. Some approximation results for impulsive processes are also provided. © 2018

关键词： Process control Differential equations Hysteresis Nonlinear equations Variational techniques Approximation results impulsive Impulsive control systems Impulsive controls Optimal controls Optimal impulsive control Rate independent process Variational inequalities

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Optimality conditions with feedback controls for optimal impulsive control problems

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IFAC-PapersOnLine 2018年第32期51卷 509-514页

作者： Dykhta, Vladimir A. Samsonyuk, Olga N. Matrosov Institute for System Dynamics and Control Theory of SB RAS Irkutsk Russia

This paper concerns with optimal impulsive control problems with trajectories of bounded variation. Necessary optimality conditions based on weakly monotone solutions of the Hamilton Jacobi inequality and feedback controls are discussed. A particular attention is paid to necessary optimality conditions with feedback controls, called Feedback minimum principle. The latter is generalized the corresponding principle for classical optimal control problems and is formulated in terms of Pontryagin Maximum Principle. An example illustrating these results is considered. © 2018

关键词： Feedback control Differential equations Optimal control systems Bounded variations Hamilton Jacobi inequality Impulsive controls Minimum Principles Necessary optimality condition Optimal control problem Optimal impulsive control Optimality conditions

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Integer Programming Approach to the Data Traffic Paths Recovering Problem 19th

Integer Programming Approach to the Data Traffic Paths Recov...

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19th International Conference on Mathematical Optimization theory and Operations Research, MOTOR 2020

作者： Vasilyev, Igor Zhang, Dong Ren, Jie Matrosov Institute for System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences Irkutsk Russia Algorithm and Technology Development Department Global Technical Service Department Huawei Technologies Co. Ltd. Dongguan China Moscow Advanced Software Technology Lab Huawei Russian Research Institute Moscow Russia

ISBN: (纸本)9783030499877

In this paper, we propose a novel approach to recovering path relationships in communication networks. The path relationship is one of the key input data which is necessary for network operation and maintenance. We have a continuous network transformation, upgrades, expansions, service allocations, thus the network physical topology and paths relationship are permanently changing with high frequency. Our approach is aimed at recovering the path relationships through flow information of each arc in the network. Getting the flow information is not a big technical problem and its control is included in the basic toolbox for network monitoring. We consider two scenarios which lead us to integer linear programs. The both of them minimize the flow deviation, where in the first one we look for a directed spanning tree (r-arborescence) and, in the second one—more general origin/destination paths (OD-paths). We propose mixed integer linear programming formulations for both problems. Their feature is that they contain the non-polynomial number of constraints which are considered implicitly by the cutting planes approach. The preliminary computation results showed that the large-scale instances of the first scenario can easily be solved. At the same time, the optimal solutions of second scenario problems can be found only on small- and medium-size instances, which inspires for the further research. © 2020, Springer Nature Switzerland AG.

关键词： Integer programming

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Feedback Necessary Optimality Conditions for Nonlinear Measure-Driven Processes ⁎

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IFAC-PapersOnLine 2019年第16期52卷 132-137页

作者： Olga N. Samsonyuk Stepan P. Sorokin Maxim V. Staritsyn Matrosov Institute for System Dynamics and Control Theory of SB RAS Irkutsk Russia

We consider a non-convex optimal impulsive control problem for nonlinear differential equations, driven by vector-valued Borel measures, under no commutativity assumptions of the Frobenius type. For this problem, we derive nonlocal necessary optimality conditions operating with a specific class of impulsive feedback controls, generated by certain functions of the Lyapunov type. These feedback controls are constructed in a way similar to the dynamical programming, but with the use of weakly monotone solutions to the corresponding Hamilton-Jacobi equation, instead of the Bellman’s function. We offer the notion of weakly monotone function with respect to a measure-driven differential equation, and give constructive criteria for this type of monotonicity. Based on a space-time representation of impulsive processes, we propose the concept of impulsive feedback control and present nonlocal necessary optimality conditions, which are shown to filter out non-optimal extrema of the impulsive Maximum Principle.

关键词： Optimal control impulsive control measure differential equations feedback control optimality conditions Maximum Principle

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