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Robust Second-Order Tracking of Multi-agent systems without Velocity Measurements and with Input Saturation

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Robust Second-Order Tracking of Multi-agent Systems without ...

第三十四届中国控制会议

作者： Qingling Wang Changyin Sun Jian Hou Yingjiang Zhou School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing Aerosapce Automatic Control Institute Nanjing University of Posts and Telecommunications

ISBN: (纸本)9781467374439

This paper investigates the robust second-order tracking problem of multi-agent systems without velocity measurements and with input saturation on detailed balanced directed communication topologies, where agents' dynamics are subject to uncertain and external disturbances. We first construct one distributed bounded controller for multi-agent systems without uncertain and external disturbances. Then, combined with the controller, one modifying uncertainty and disturbance estimator(UDE)is proposed to approximate the situation where neither the velocity measurements nor their asymptotic estimation is *** is shown that the synchronization errors are bounded and their ultimate bounds could be arbitrarily small by choosing some parameters appropriately. simulation results are presented to show the effectiveness of the controllers.

关键词： Robust second-order consensus,without velocity measurements,uncertainty and disturbance estimator,input saturation.

Decentralized Event-Triggered Online Learning for Safe Consensus of Multi-Agent systems with Gaussian Process Regression

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arXiv 2024年

作者： Dai, Xiaobing Yang, Zewen Xu, Mengtian Liu, Fangzhou Hattab, Georges Hirche, Sandra TUM School of Computation Information and Technology Technical University of Munich Munich80333 Germany Robert Koch Institute Berlin Germany National Key Laboratory of Modeling and Simulation for Complex Systems Harbin Institute of Technology 150001 China Department of Mathematics and Computer Science Freie Universität Berlin Berlin Germany

Consensus control in multi-agent systems has received significant attention and practical implementation across various domains. However, managing consensus control under unknown dynamics remains a significant challenge for control design due to system uncertainties and environmental disturbances. This paper presents a novel learning-based distributed control law, augmented by an auxiliary dynamics. Gaussian processes are harnessed to compensate for the unknown components of the multi-agent system. For continuous enhancement in predictive performance of Gaussian process model, a data-efficient online learning strategy with a decentralized event-triggered mechanism is proposed. Furthermore, the control performance of the proposed approach is ensured via the Lyapunov theory, based on a probabilistic guarantee for prediction error bounds. To demonstrate the efficacy of the proposed learning-based controller, a comparative analysis is conducted, contrasting it with both conventional distributed control laws and offline learning methodologies. Copyright © 2024, The Authors. All rights reserved.

关键词： Multi agent systems

Directed momentum current induced by the PT-symmetric driving

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Physical Review E 2019年第4期99卷 042201-042201页

作者： Wen-Lei Zhao Jiaozi Wang Xiaohui Wang Peiqing Tong School of Science Jiangxi University of Science and Technology Ganzhou 341000 China Department of Modern Physics University of Science and Technology of China Hefei 230026 China School of Information Engineering Jiangxi University of Science and Technology Ganzhou 341000 China Department of Physics and Institute of Theoretical Physics Nanjing Normal University Nanjing 210023 China Jiangsu Provincial Key Laboratory for Numerical Simulation of Large Scale Complex Systems Nanjing Normal University Nanjing Jiangsu 210023 China

We investigate the directed momentum current in the quantum kicked rotor model with PT-symmetric deriving potential. For the quantum nonresonance case, the values of quasienergy become complex when the strength of the imaginary part of the kicking potential exceeds a threshold value, which demonstrates the appearance of the spontaneous PT symmetry breaking. In the vicinity of the transition point, the momentum current exhibits a staircase growth with time. Each platform of the momentum current corresponds to the mean momentum of some eigenstates of the Floquet operator whose imaginary parts of the quasienergy are significantly large. Above the transition point, the momentum current increases linearly with time. Interestingly, its acceleration rate exhibits a kind of “quantized” increment with the kicking strength. We propose a modified classical acceleration mode of the kicked rotor model to explain such an intriguing phenomenon. Our theoretical prediction is in good agreement with numerical results.

关键词： Coherent control Cold atoms & matter waves Light-matter interaction Wave chaos

A Comprehensive Survey of 3D Dense Captioning: Localizing and Describing Objects in 3D Scenes

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arXiv 2024年

作者： Yu, Ting Lin, Xiaojun Wang, Shuhui Sheng, Weiguo Huang, Qingming Yu, Jun School of Information Science and Technology Hangzhou Normal University Hangzhou311121 China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing101408 China Key Laboratory of Complex Systems Modeling and Simulation School of Computer Science and Technology Hangzhou Dianzi University Hangzhou310018 China

Three-Dimensional (3D) dense captioning is an emerging vision-language bridging task that aims to generate multiple detailed and accurate descriptions for 3D scenes. It presents significant potential and challenges due to its closer representation of the real world compared to 2D visual captioning, as well as complexities in data collection and processing of 3D point cloud sources. Despite the popularity and success of existing methods, there is a lack of comprehensive surveys summarizing the advancements in this field, which hinders its progress. In this paper, we provide a comprehensive review of 3D dense captioning, covering task definition, architecture classification, dataset analysis, evaluation metrics, and in-depth prosperity discussions. Based on a synthesis of previous literature, we refine a standard pipeline that serves as a common paradigm for existing methods. We also introduce a clear taxonomy of existing models, summarize technologies involved in different modules, and conduct detailed experiment analysis. Instead of a chronological order introduction, we categorize the methods into different classes to facilitate exploration and analysis of the differences and connections among existing techniques. We also provide a reading guideline to assist readers with different backgrounds and purposes in reading efficiently. Furthermore, we propose a series of promising future directions for 3D dense captioning by identifying challenges and aligning them with the development of related tasks, offering valuable insights and inspiring future research in this field. Our aim is to provide a comprehensive understanding of 3D dense captioning, foster further investigations, and contribute to the development of novel applications in multimedia and related domains. Copyright © 2024, The Authors. All rights reserved.

关键词： Data handling

Prompting Video-Language Foundation Models with Domain-specific Fine-grained Heuristics for Video Question Answering

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arXiv 2024年

作者： Yu, Ting Fu, Kunhao Wang, Shuhui Huang, Qingming Yu, Jun School of Information Science and Technology Hangzhou Normal University Hangzhou311121 China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing101408 China Key Laboratory of Complex Systems Modeling and Simulation School of Computer Science and Technology Hangzhou Dianzi University Hangzhou310018 China

Video Question Answering (VideoQA) represents a crucial intersection between video understanding and language processing, requiring both discriminative unimodal comprehension and sophisticated cross-modal interaction for accurate inference. Despite advancements in multi-modal pre-trained models and video-language foundation models, these systems often struggle with domain-specific VideoQA due to their generalized pre-training objectives. Addressing this gap necessitates bridging the divide between broad cross-modal knowledge and the specific inference demands of VideoQA tasks. To this end, we introduce HeurVidQA, a framework that leverages domain-specific entity-action heuristics to refine pre-trained video-language foundation models. Our approach treats these models as implicit knowledge engines, employing domain-specific entity-action prompters to direct the model’s focus toward precise cues that enhance reasoning. By delivering fine-grained heuristics, we improve the model’s ability to identify and interpret key entities and actions, thereby enhancing its reasoning capabilities. Extensive evaluations across multiple VideoQA datasets demonstrate that our method significantly outperforms existing models, underscoring the importance of integrating domain-specific knowledge into video-language models for more accurate and context-aware VideoQA. Copyright © 2024, The Authors. All rights reserved.

关键词： Inference engines

Dynamical thermalization of Frenkel-Kontorova model in the thermodynamic limit

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Physical Review E 2016年第2期93卷 022216-022216页

作者： Zhenjun Zhang Chunmei Tang Peiqing Tong College of Science Hohai University Nanjing Jiangsu 210098 People's Republic of China School of Physics Science and Technology Nanjing Normal University Nanjing Jiangsu 210023 People's Republic of China Jiangsu Provincial Key Laboratory for Numerical Simulation of Large Scale Complex Systems Nanjing Normal University Nanjing Jiangsu 210023 People's Republic of China

We study numerically the process of dynamical thermalization in the Frenkel-Kontorova (FK) model with weak nonlinearity. The total energy has initially equidistributed among some of the lowest frequency linear modes. It is found that the energy transfers continuously to the high-frequency modes and finally evolves towards energy equipartition in the FK model. However, the metastable state, which was found in Fermi-Pasta-Ulam (FPU) model and φ4 model in a relatively short time scale, is not found in the FK model. We further perform a very accurate systematic study of the equipartition time Teq as functions of the particle number N, the nonlinear parameter β, and the energy density ɛ. In the thermodynamic limit, the dependence of Teq on β and ɛ is found to display a power law behavior: Teq∝βaɛb. The exponents a and b are numerically found to be approximately −2.0 and 1.43. This scaling law is also quite different from those of the FPU-β model and φ4 model.

关键词： Lattice dynamics Lattice models in statistical physics Lattice models in condensed matter

Grand-canonical Monte-Carlo simulation of solutions of salt mixtures: theory and implementation

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arXiv 2017年

作者： Nguyen, Toan T. VNU Key Laboratory"Multiscale Simulation of Complex Systems" Faculty of Physics VNU University of Science Vietnam National University 334 Nguyen Trai Street Thanh Xuan Hanoi School of Physics Georgia Institute of Technology 837 State Street AtlantaGA30332-0430 United States

A Grand-canonical Monte-Carlo simulation method extended to simulate a mixture of salts is presented. Due to charge neutrality requirement of electrolyte solutions, ions must be added to or removed from the system in groups. This leads to some complications compared to regular Grand Canonical simulation. Here, a recipe for simulation of electrolyte solution of salt mixture is presented. It is then implemented to simulate solution of 1:1, 2:1 and 2:2 salts or their mixtures at different concentrations using the primitive ion model. The osmotic pressures of the electrolyte solutions are calculated and shown to depend linearly on the salt concentrations within the concentration range simulated. We also show that at the same concentration of divalent anions, the presence of divalent cations make it easier to insert monovalent cations into the system. This can explain some quantitative differences observed in experiments of the MgCl2 salt mixture and MgSO4 salt mixture. Copyright © 2017, The Authors. All rights reserved.

关键词： Magnesium compounds

Mitigating Over-Trust in Chat Companion Robot Interaction Using Augmented Reality 23

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Mitigating Over-Trust in Chat Companion Robot Interaction Us...

Proceedings of the 4th International Conference on Artificial Intelligence and Computer Engineering

作者： Guobao Wang Changshun Zhao Ying Liu Di He Yuqing Wang Kaiyue Zhang Yanshan University/Jiangsu Xuzhou Construction Machinery Group Co. Ltd. China Officers College of PAP China National Key Laboratory for Complex Systems Simulation China University of Electronic Science and Technology of China China Jiangsu Province Tongshan Secondary Vocational School China

ISBN: (纸本)9798400708831

This study aims to explore the effects of different human-machine interfaces, system performance, and robot interaction modalities on over-trust in chat companion robot systems. We designed and implemented three types of interfaces: 2D Virtual Interface + Virtual Robot, 3D Augmented Reality Interface + AR-based Virtual Robot, and 3D Real World + NAO Physical Robot. We also manipulated the system performance (high or low) and the robot interaction modality (language, gesture, or both). We conducted a user study with 30 participants, who interacted with the chat companion robot under different conditions and rated their trust, distrust, and human-robot distance. We also measured the user experience in terms of usefulness and ease of use. The results showed that the type of interface significantly influenced the trust, distrust, and human-robot distance of the users, and that the 3D augmented reality interface was the most effective in enhancing trust and reducing distrust and distance. The performance of the system also affected the trust and distance of the users, and the gesture interface was the most sensitive to the performance variation. The modality of the interaction did not have a significant impact on the dependent variables. The user experience ratings also indicated that the 3D augmented reality interface was the most useful and easy to use. The implications and limitations of these findings are discussed in the paper.

关键词：

Toward activity mapping for Artifact-Centric business process

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International Journal of u- and e- Service, science and technology 2016年第6期9卷 421-432页

作者： Yin, Yuyu Zhu, Zhengshuang Gao, Min Song, Aihua College of Electrical Engineering Zhejiang University HangzhouZhejiang310027 China School of Computer Science and Technology Hangzhou Dianzi University HangzhouZhejiang310018 China Key Laboratory of Complex Systems Modeling and Simulation Ministry of Education HangzhouZhejiang310018 China

The existing method of task mapping between process models is mostly based on the similarity of labels to get the similarity between tasks, which is affected by a single factor and easy to cause errors. This paper proposes a task mapping method for Artifact-Centric business process analyzes the data operation in business process execution. At first we add the description of data operation to EZ-Flow model. Secondly select the similar artifact attributes of the two business artifact by whole artifacts similarity calculation and based them to calculate two tasks’ similarity by label similarity, artifact operation similarity and context similarity calculations. Finally, the task mapping comes from the optimal selection of tasks’ similarities. Experimental results verify the effectiveness of the method, and show that the method reflects the data operation characteristics of business process model, as artifact task mapping of the process model provides a feasible method. © 2016 SERSC.

关键词： Mapping