This paper focuses on the finite-time control(FTC) of the composite formation consensus(CFC)problems for multi-robot systems(MRSs). The CFC problems are firstly proposed for MRSs under the complex network topology of ...
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This paper focuses on the finite-time control(FTC) of the composite formation consensus(CFC)problems for multi-robot systems(MRSs). The CFC problems are firstly proposed for MRSs under the complex network topology of cooperative or cooperative-competitive networks. Regarding the problems of FTC and CFC on multiple Lagrange systems(MLSs), coupled sliding variables are introduced to deal with the robustness and consistent convergence. Then, the adaptive finite-time protocols are given based on the displacement approaches. With the premised FTC, tender-tracking methods are further developed for the problems of tracking information disparity. Stability analyses of those MLSs mentioned above are clarified with Lyapunov candidates considering the coupled sliding vectors, which provide new verification for tender-tracking systems. Under the given coupled-sliding-variable-based finite-time protocols, MLSs distributively adjust the local formation error to achieve global CFC and perform uniform convergence in time-varying tracking. Finally, simulation experiments are conducted while providing practical solutions for the theoretical results.
Image captioning is the task of generating descriptive text for a given image, and there are two primary approchaes: fully supervised learning and text-only training. While the fully supervised approach sufferes from ...
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We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior studies, which were trained to optimize the weights o...
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We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior studies, which were trained to optimize the weights of a pre-selected set of attention points, our approach learns to locate the best attention points to maximize the performance of a specific task, e.g., point cloud classification. Importantly, we advocate the use of single attention point to facilitate semantic understanding in point feature learning. Specifically,we formulate a new and simple convolution, which combines convolutional features from an input point and its corresponding learned attention point(LAP). Our attention mechanism can be easily incorporated into state-of-the-art point cloud classification and segmentation networks. Extensive experiments on common benchmarks, such as Model Net40, Shape Net Part, and S3DIS, all demonstrate that our LAP-enabled networks consistently outperform the respective original networks, as well as other competitive alternatives, which employ multiple attention points, either pre-selected or learned under our LAP framework.
Advancements in Natural Language Processing and Deep Learning techniques have significantly pro-pelled the automation of Legal Judgment Prediction,achieving remarkable progress in legal *** of the existing research wo...
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Advancements in Natural Language Processing and Deep Learning techniques have significantly pro-pelled the automation of Legal Judgment Prediction,achieving remarkable progress in legal *** of the existing research works on Legal Judgment Prediction(LJP)use traditional optimization algorithms in deep learning techniques falling into local *** research article focuses on using the modified Pelican Optimization method which mimics the collective behavior of Pelicans in the exploration and exploitation phase during cooperative food ***,the selection of search agents within a boundary is done randomly,which increases the time required to achieve global *** address this,the proposed Chaotic Opposition Learning-based Pelican Optimization(COLPO)method incorporates the concept of Opposition-Based Learning combined with a chaotic cubic function,enabling deterministic selection of random numbers and reducing the number of iterations needed to reach global ***,the LJP approach in this work uses improved semantic similarity and entropy features to train a hybrid classifier combining Bi-GRU and Deep *** output scores are fused using improved score level fusion to boost prediction *** proposed COLPO method experiments with real-time Madras High Court criminal cases(Dataset 1)and the Supreme Court of India database(Dataset 2),and its performance is compared with nature-inspired algorithms such as Sparrow Search Algorithm(SSA),COOT,Spider Monkey Optimization(SMO),Pelican Optimization Algorithm(POA),as well as baseline classifier models and transformer neural *** results show that the proposed hybrid classifier with COLPO outperforms other cutting-edge LJP algorithms achieving 93.4%and 94.24%accuracy,respectively.
Most of current semantic communication (SemCom) frameworks focus on the image transmission, which, however, do not address the problem on how to deliver digital signals without any semantic features. This paper propos...
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The Hungarian algorithm is a well-known cubic-time algorithm for finding minimum-cost matchings in weighted bipartite graphs. While utilizing it for multi-agent path planning yields the minimum-total-length set of pat...
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The perception in most existing vision-based reinforcement learning(RL) models for robotic manipulation relies heavily on static third-person or hand-mounted first-person cameras. In scenarios with occlusions and limi...
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The perception in most existing vision-based reinforcement learning(RL) models for robotic manipulation relies heavily on static third-person or hand-mounted first-person cameras. In scenarios with occlusions and limited maneuvering space, these carefully positioned cameras often struggle to provide effective visual observations during manipulation. Taking inspiration from human capabilities, we introduce a novel RL-based dual-arm active visual-guided manipulation model(DAVMM), which simultaneously infers “eye” actions and “hand” actions for two separate robotic arms(referred to as the vision-arm and the worker-arm) based on current observations, empowering the robot with the ability to actively perceive and interact with its environment. To handle the extensive redundant observation-action space, we propose a decouplable target-centric reward paradigm to offer stable guidance for the training process. For making fine-grained manipulation action decisions, alongside a global scene image encoder, we utilize an independent encoder to extract local target texture features,enabling the simultaneous acquisition of both global and detailed local information. Additionally, we employ residual-RL and curriculum learning techniques to further enhance our model's sample efficiency and training stability. We conducted comparative experiments and analyses of DAVMM against a set of strong baselines on three occluded and narrow-space manipulation tasks. DAVMM notably improves the success rates across all manipulation tasks and showcases rapid learning capabilities.
The Internet of Things(IoT)has orchestrated various domains in numerous applications,contributing significantly to the growth of the smart world,even in regions with low literacy rates,boosting socio-economic *** stud...
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The Internet of Things(IoT)has orchestrated various domains in numerous applications,contributing significantly to the growth of the smart world,even in regions with low literacy rates,boosting socio-economic *** study provides valuable insights into optimizing wireless communication,paving the way for a more connected and productive future in the mining *** IoT revolution is advancing across industries,but harsh geometric environments,including open-pit mines,pose unique challenges for reliable *** advent of IoT in the mining industry has significantly improved communication for critical operations through the use of Radio Frequency(RF)protocols such as Bluetooth,Wi-Fi,GSM/GPRS,Narrow Band(NB)-IoT,SigFox,ZigBee,and Long Range Wireless Area Network(LoRaWAN).This study addresses the optimization of network implementations by comparing two leading free-spreading IoT-based RF protocols such as ZigBee and *** field tests are conducted in various opencast mines to investigate coverage potential and signal *** is tested in the Tadicherla open-cast coal mine in ***,LoRaWAN field tests are conducted at one of the associated cement companies(ACC)in the limestone mine in Bargarh,India,covering both Indoor-toOutdoor(I2O)and Outdoor-to-Outdoor(O2O)environments.A robust framework of path-loss models,referred to as Free space,Egli,Okumura-Hata,Cost231-Hata and Ericsson models,combined with key performance metrics,is employed to evaluate the patterns of signal *** field testing and careful data analysis revealed that the Egli model is the most consistent path-loss model for the ZigBee protocol in an I2O environment,with a coefficient of determination(R^(2))of 0.907,balanced error metrics such as Normalized Root Mean Square Error(NRMSE)of 0.030,Mean Square Error(MSE)of 4.950,Mean Absolute Percentage Error(MAPE)of 0.249 and Scatter Index(SI)of *** the O2O scenario,the Ericsson model
Large language models (LLMs) have been one of the most important discoveries in machine learning in recent years. LLM-based artificial intelligence (AI) assistants, such as ChatGPT, have consistently attracted the att...
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With the rapid development of information technologies,industrial Internet has become more open,and security issues have become more *** endogenous security mechanism can achieve the autonomous immune mechanism withou...
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With the rapid development of information technologies,industrial Internet has become more open,and security issues have become more *** endogenous security mechanism can achieve the autonomous immune mechanism without prior ***,endogenous security lacks a scientific and formal definition in industrial ***,firstly we give a formal definition of endogenous security in industrial Internet and propose a new industrial Internet endogenous security architecture with cost ***,the endogenous security innovation mechanism is clearly ***,an improved clone selection algorithm based on federated learning is ***,we analyze the threat model of the industrial Internet identity authentication scenario,and propose cross-domain authentication mechanism based on endogenous key and zero-knowledge *** conduct identity authentication experiments based on two types of blockchains and compare their experimental *** on the experimental analysis,Ethereum alliance blockchain can be used to provide the identity resolution services on the industrial *** of Things Application(IOTA)public blockchain can be used for data aggregation analysis of Internet of Things(IoT)edge ***,we propose three core challenges and solutions of endogenous security in industrial Internet and give future development directions.
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