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AI Enabled Automatic Mobile Robot Intelligent Navigation in Construction with Obstacle Awareness

IEEE Transactions on automation Science and engineering 2025年

作者： Zhang, Yinlong Liu, Yuanhao Cui, Yunge Zeng, Ziming Liang, Wei Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China University of Chinese Academy of Sciences Beijing101408 China Zeekr Group Zeekr Intelligent Driving Department Shanghai110078 China Shenzhen Polytechnic University School of Automotive and Transportation Engineering Shenzhen518055 China

In the construction industry, the integration of artificial intelligence (AI) and robotics has led to significant advancements in automating various tasks. One critical aspect is the intelligent navigation of automatic mobile robot (AMR) within construction sites, where dynamic environments pose challenges such as inaccurate robot state estimation, irregular and textureless obstacle detection. To solve these issues, this paper designs an AI enabled obstacle-aware AMR intelligent navigation approach while ensuring robot safety and efficiency. Specifically, the robot is equipped with the complementary RGB camera, inertial measurement unit (IMU) and wheel encoder to estimate the states (i.e., positions, orientations and velocities), which have been tightly fused in the optimization framework. Furthermore, the RGB-Depth images are jointly fed into the AI model. It combines of Mask-RCNN and multi-scale attention network, to detect and segment the obstacles, and estimate the corresponding relative depth. It should be noted that the system incorporates obstacle awareness mechanisms to dynamically switch the robot's velocities in response to obstacles in the environment, ensuring smooth and collision-free movement. Experimental results demonstrate the effectiveness and robustness of the proposed AI-enabled navigation system in real-world construction scenarios, showcasing its potential to enhance productivity and safety in construction automation. © 2004-2012 IEEE.

关键词： Construction industry

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A game theoretical approach for distributed resource allocation with uncertainty

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International Journal of Intelligent Computing and Cybernetics 2017年第1期10卷 52-67页

作者： Lei Xue Changyin Sun Fang Yu Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast UniversityNanjingPeople’s Republic of China

Purpose-The paper aims to build the connections between game theory and the resource allocation problem with general *** proposes modeling the distributed resource allocation problem by Bayesian *** this paper,three basic kinds of uncertainties are ***,the purpose of this paper is to build the connections between game theory and the resource allocation problem with general ***/methodology/approach-In this paper,the Bayesian game is proposed for modeling the resource allocation problem with *** basic game theoretical model contains three parts:agents,utility function,and decision-making ***,the probabilistic weighted Shapley value(WSV)is applied to design the utility function of the *** achieving the Bayesian Nash equilibrium point,the rational learning method is introduced for optimizing the decision-making process of the ***-The paper provides empirical insights about how the game theoretical model deals with the resource allocation problem uncertainty.A probabilistic WSV function was proposed to design the utility function of ***,the rational learning was used to optimize the decision-making process of agents for achieving Bayesian Nash equilibrium *** comparing with the models with full information,the simulation results illustrated the effectiveness of the Bayesian game theoretical methods for the resource allocation problem under ***/value-This paper designs a Bayesian theoretical model for the resource allocation problem under *** relationships between the Bayesian game and the resource allocation problem are discussed.

关键词： Game theory Multi-agent systems Bayesian games Resource allocation under uncertainty Paper type Research paper

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Circular Formation Flight control for Unmanned Aerial Vehicles With Directed Network and External Disturbance

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IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 505-516页

作者： Yangyang Chen Rui Yu Ya Zhang Chenglin Liu School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Advanced Process Control for Light Industry Ministry of EducationInstitute of AutomationJiangnan UniversityWuxi 214122China

This paper proposes a new distributed formation flight protocol for unmanned aerial vehicles(UAVs)to perform coordinated circular tracking around a set of circles on a target *** from the previous results limited in bidirectional networks and disturbance-free motions,this paper handles the circular formation flight control problem with both directed network and spatiotemporal disturbance with the knowledge of its upper *** from the design of a common Lyapunov fiunction for bidirectional cases,we separately design the control for the circular tracking subsystem and the formation keeping subsystem with the circular tracking error as *** the whole control system is regarded as a cascade connection of these two subsystems,which is proved to be stable by input-tostate stability(ISS)*** the purpose of encountering the external disturbance,the backstepping technology is introduced to design the control inputs of each UAV pointing to North and Down along the special sphere(say,the circular tracking control algorithm)with the help of the switching ***,the distributed linear consensus protocol integrated with anther switching anti-interference item is developed to construct the control input of each UAV pointing to east along the special sphere(say,the formation keeping control law)for formation *** validity of the proposed control law is proved both in the rigorous theory and through numerical simulations.

关键词： Directed network external disturbance flight control unmanned aerial vehicles(UAVs)

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Secure Encoding Scheme for Consensus of Second-order Multi-Agent systems 41

Secure Encoding Scheme for Consensus of Second-order Multi-A...

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第41届中国控制会议

作者： Bingya Zhao Ya Zhang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

We consider the problem of consensus of a second-order multi-agent system in the situation where an eavesdropper tends to impact the security of the network.A secure encoding scheme that guarantees both consensus and security of the multiagent network is *** the network,the agents transmit messages to one another through digital channels,and there exists an eavesdropper whose aim is to overhear the state information of the agents in the *** of transmitting the states of themselves,the agents in the network send states of auxiliary systems to defend against the *** concept of topological entropy is utilized to restrict the eigenvalues of the encoding matrix.A sufficient condition is given to guarantee that the network achieves consensus,and the eavesdropper cannot get the accurate estimation of the state of any agent.A simulation example is given to show the performance of the agents and the eavesdropper under the designed encoding scheme.

关键词： Multi-agent system secure encoding scheme consensus topological entropy maximum transmission rate

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Distributed Detectability and Filter Design in Homogeneous Sensor Networks 33

Distributed Detectability and Filter Design in Homogeneous S...

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第三十三届中国控制会议

作者： ZHANG Ya TIAN Yu-Ping School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

This paper studies distributed filtering problem of homogeneous sensor *** part of sensors can get observations of the process and consensus based filters are *** the distributed detectability and the suboptimal filter design are *** converting the stability problem of estimation errors of sensors under time-varying topologies to the robust stability problem of some uncertain system,two sufficient distributed detectability conditions are *** is LMI-based and the other is given by the eigenvalues of the process matrix and Laplacian matrices.A suboptimal algorithm to design the consensus based filter gains is proposed and the convergence of the algorithm is *** examples are given to illustrate the results.

关键词： Distributed filter,Detectability,Consensus,Multi-agent systems,Sensor networks

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Model Predictive Tracking control for Rigid Manipulators with Disturbance Rejection 41

Model Predictive Tracking Control for Rigid Manipulators wit...

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第41届中国控制会议

作者： Yihui Lu Linyan Han Jinhao Liu Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

A model predictive tracking control algorithm for rigid manipulators considering the existence of external time-varying disturbances is studied in this *** the field of manipulators,disturbances are *** the influence of disturbances will lead to poor control accuracy and even *** a two-degree-of-freedom(2-DoF) rigid manipulator,a composite algorithm combing model predictive control(MPC) and a generalized proportional integral observer(GPIO) is *** the proposed method,feedback linearization technology is used to decouple the *** order to improve the ability of disturbance rejection,a GPIO is used to estimate the lumped disturbances and the estimated values are added to the control law by feedforward *** is conducted to validate the proposed algorithm.

关键词： Model Predictive control(MPC) Manipulator Generalized Proportional Integral Observer(GPIO) Feedback Linearization

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Finite-time control for DC-DC Boost Converter Using Nonsingular Terminal Sliding Modes via Exact Feedback Linearization 36

Finite-time Control for DC-DC Boost Converter Using Nonsingu...

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第36届中国控制会议

作者： Jie Pan Hongyu Cui Zuo Wang Shihua Li Qi Li Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast University

ISBN: (纸本)9781538629185

This paper investigates a finite-time disturbance observer（FTDO） based nonsingular terminal sliding mode control（NTSMC） approach for DC-DC boost converter *** using exact feedback linearization theory and control method to solve the output voltage regulation problem under the load resistance changes and external input voltage *** the disturbance estimated by FTDO into the design of the nonlinear dynamic sliding mode surface,a finite-time NTSMC method is developed to reject the effects of mismatched disturbances and achieve finite-time tracking *** compared with the nominal NTSMC method,the proposed method obtains a better disturbance rejection ability no matter the disturbances satisfy the matching condition or *** is shown that the stability of closed-loop system can be guaranteed by the proposed *** comparison results are displayed to demonstrate the robustness of the proposed controller against input voltage variations and load uncertainties.

关键词： DC-DC Boost Converter Nonsingular Terminal Sliding Mode control（NTSMC） Finite-time Disturbance Observer（FTDO） Mismatched Disturbances Load Resistance Uncertainties External Input Voltage Variations

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Multi-dimensional Taylor Network Optimal control for Ship Roll Stabilization 2

Multi-dimensional Taylor Network Optimal Control for Ship Ro...

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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Peng Zhang Hong-Sen Yan Yang Yang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

Ships stability and safety are always threatened by the unavoidable sway in the complicated situation of the sea, *** wind and roaring waves. Ensuring the stability of the ship as a difficult t

ISBN: (纸本)9781467389808

Ships stability and safety are always threatened by the unavoidable sway in the complicated situation of the sea, *** wind and roaring waves. Ensuring the stability of the ship as a difficult t

关键词： Marine vehicles Force Torque Hydrodynamics Optimal control Harmonic analysis

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Multi-dimensional Taylor Network Optimal control for Tank Firing in High Speed Motion 2

Multi-dimensional Taylor Network Optimal Control for Tank Fi...

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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Dong-Xiao Li Hong-Sen Yan Tao Jin School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

In this paper, a method of tank gun stability control system based on multi-dimensional Taylor network optimal control(MTN) is proposed. As the fact that tank itself has a strong nonlinear characteris

ISBN: (纸本)9781467389808

关键词： Weapons Roads Prototypes Stability analysis PI control PD control

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Intra-hour PV Power Forecasting based on Multi-source Data and PSC-SVR Model 41

Intra-hour PV Power Forecasting based on Multi-source Data a...

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第41届中国控制会议

作者： Kai Wang Weijing Dou Haikun Wei Kanjian Zhang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Accurate photovoltaic power forecasting(PVPF) can ensure the stability of grid operation and the reliability of economic ***,PV power generation is greatly affected by weather conditions,thus more external information needs to be combined to improve the forecasting *** on the measured data and NWP data,this paper proposes a PSC-SVR model to forecast the intra-hour PV *** model consists of PV physical model(PSC) and support vector regression(SVR).PSC converts the irradiance as a priori feature of the model,including calculating the sun position,irradiance separation and transposition *** is used for the two-stage data fusion of NWP power modeling and power *** method was verified on 4 power stations in the public data set *** forecasting PV power in the next one hour,the average RMSE/MAE of all stations is 1.927 MW/1.167 MW,which decreases by 40%/55% compared with persistent model,6%/7% compared with NWP correction forecasting method,9%/13% and 32%/34% compared with the single measured data and single NWP *** above results show the effectiveness of our proposed model in multi-source data fusion and PV power forecasting.

关键词： Photovoltaic Power Forecasting NWP Data Fusion Physical Model Support Vector Regression

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