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Sensor-based Multi-agent Coverage control with Spatial Separation in Unstructured Environments

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arXiv 2024年

作者： Wang, Xinyi Xu, Jiwen Gao, Chuanxiang Chen, Yizhou Zhang, Jihan Wang, Chenggang Ding, Yulong Chen, Ben M. Department of Mechanical and Automation Engineering The Chinese University of Hong Kong N.T. Shatin Hong Kong Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai200240 China Department of Control Science and Engineering Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education China

Multi-robot systems have increasingly become instrumental in tackling coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive, unstructured scenarios with dense obstacles. This paper presents an innovative, decentralized Voronoi-based coverage control approach to reactively navigate these complexities while guaranteeing safety. This approach leverages the active sensing capabilities of multi-robot systems to supplement GIS (Geographic information system), offering a more comprehensive and real-time understanding of environments like post-disaster. Based on point cloud data, which is inherently non-convex and unstructured, this method efficiently generates collision-free Voronoi regions using only local sensing information through spatial decomposition and spherical mirroring techniques. Then, deadlock-aware guided map integrated with a gradient-optimized, centroid Voronoi-based coverage control policy, is constructed to improve efficiency by avoiding exhaustive searches and local sensing pitfalls. The effectiveness of our algorithm has been validated through extensive numerical simulations in high-fidelity environments, demonstrating significant improvements in task success rate, coverage ratio, and task execution time compared with others. Copyright © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

Recurrent Attentional Reinforcement Learning for Fault Diagnosis of Hydraulic system

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Recurrent Attentional Reinforcement Learning for Fault Diagn...

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

作者： Zhenhui Tang Ru Liu Kang Lou Chaojian Gao Jingcheng Wang SJTU Sanya Yazhou Bay Institute of Deepsea Science and Technology Sanya China Department of Automation Shanghai Jiao Tong University Shanghai China Shanghai Marine Equipment Research Institute Shanghai China Department of Automation the Key Laboratory of System Control and Information Processing Ministry of Education of China and the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Autonomous Systems and Intelligent Control International Joint Research Center Xi'an Technological University Xi'an China

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

Recognizing fault types of machinery system is a fundamental but challenging task in industrial application. Although data-driven fault diagnosis method attains remarkable progress by learning fault features automatically, the existing data-driven fault diagnosis pipelines learn non-discriminative feature. To deal with these problems, a new data-driven fault diagnosis method with recurrent attentional module is proposed to find a sequence of informative features by localizing distinguishing time fragments about each individual faults iteratively. The contextual sequence dependency between the localized time fragments is enhanced. Then, the fault types are further predicted on localized time fragments. The proposed framework also explicitly models long-term dependencies among these attentional time fragments to capture historical fault information. Experiments on hydraulic system show that the proposed framework achieves superior diagnosis performance and computation efficiency.

关键词： Fault diagnosis Location awareness Accuracy Computational modeling Pipelines Reinforcement learning Hydraulic systems Computational efficiency information technology

Robust quantum teleportation via a non-Markovian channel

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Physical Review A 2023年第6期108卷 062406-062406页

作者： Yanfang Wang Shibei Xue Hongbin Song Min Jiang Department of Automation Shanghai Jiao Tong University Shanghai 200240 People's Republic of China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 People's Republic of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 People's Republic of China General Education Division and Shenzhen Key Laboratory of Semiconductor Lasers The Chinese University of Hong Kong Shenzhen Guang Dong 518116 People's Republic of China School of Electronics and Information Engineering Soochow University Suzhou 215006 People's Republic of China

In this paper we propose a non-Markovian quantum channel approach to mitigating the degradation of the average fidelity in continuous-variable quantum teleportation. The non-Markovian quantum channel is modeled by an augmented system where ancillary systems are introduced to represent the internal modes of non-Markovian environments. With a proper non-Markovianity, enhanced effects of the channels on continuous-variable quantum teleportation are observed. Also, the logarithmic negativity of entangled states can be effectively maintained so that the decay of the average fidelity of quantum teleportation is mitigated. In addition, the analysis on different teleported quantum states shows that coherent states exhibit stronger robustness than those of squeezed states and cat states in quantum teleportation with a non-Markovian channel.

关键词： Quantum control Quantum engineering Quantum teleportation

Coarray Tensor Train Decomposition for Bistatic MIMO Radar with Uniform Planar Array

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IEEE Transactions on Antennas and Propagation 2025年

作者： Xie, Qianpeng Wang, Zhanling Wen, Fangqing He, Jin Truong, Trieu-Kien National University of Defense Technology State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System Changsha410073 China Hubei University of Automotive Technology Institute of Vehicle Information Control and Network Technology Shiyan442002 China China Three Gorges University Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering Yichang443002 China Shanghai Jiao Tong University Shanghai Key Laboratory of Navigation and Location Based Services School of Electronic Information and Electrical Engineering Shanghai200240 China

Recently, tensor network decomposition has attracted increasing attention due to its high efficacy in modeling multi-dimensional correlations in high-order tensors. Considering this advantage, this study employs tensor train decomposition (TTD) to achieve joint two-dimensional direction-of-departure (2D-DOD) and direction-of-arrival (2D-DOA) estimation in bistatic multiple-input multiple-output (MIMO) radar systems with uniform planar array (UPA) configurations. First, a five-dimensional (5D) tensor is defined to incorporate the two-dimensional (2D) spatial information from transmit and receive UPAs, which is then combined with temporal information. Next, a low-rank four-dimensional (4D) tensor is generated by performing an autocorrelation operation along the temporal dimension of the 5D tensor, forming a structure that encapsulates the difference coarrays of the transmit and receive UPAs. Then, a TTD framework is designed to decompose the 4D tensor into interconnected lower-order TT-cores. Furthermore, a precise bidirectional mapping is performed between the TT-cores and the original Vandermonde factor matrices. Finally, leveraging distinct combinations of TT-cores, two innovative methods are developed to recover the Vandermonde factor matrices. The proposed methods conduct automatic pairing of 2D-DOD and obtain 2D-DOA estimates by enforcing consistent permutation orders across all factor matrices. The proposed methods are verified by simulation experiments. The results confirm that the proposed methods can surpass the existing tensor-based methods in terms of estimation accuracy. © 1963-2012 IEEE.

关键词： Matrix algebra

HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation

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arXiv 2022年

作者： Guan, Qi Sheng, Zihao Xue, Shibei Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Real-time 6D object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and lightweight model, namely High-Resolution 6D Pose Estimation Network (HRPose). We adopt the efficient and small HRNetV2-W18 as a feature extractor to reduce computational burdens while generating accurate 6D poses. With only 33% of the model size and lower computational costs, our HRPose achieves comparable performance compared with state-of-the-art models. Moreover, by transferring knowledge from a large model to our proposed HRPose through output and feature-similarity distillations, the performance of our HRPose is improved in effectiveness and efficiency. Numerical experiments on the widely-used benchmark LINEMOD demonstrate the superiority of our proposed HRPose against state-of-the-art methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Distillation

Opportunistic Wireless control Over State-Dependent Fading Channels

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arXiv 2022年

作者： Wang, Shuling Li, Peizhe Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

The heterogeneous system consisting of the wireless control system (WCS) and mobile agent system (MAS) is ubiquitous in Industrial Internet of Things (IIoT) systems. Within this system, the positions of mobile agents may lead to shadow fading on the wireless channel that the WCS is controlled over and can significantly compromise the WCS’s performance. This paper focuses on the controller design for the MAS to ensure the performance of WCS in the presence of WCS and MAS coupling. Firstly, the constrained finite field network (FFN) with profile-dependent switching topology is adopted to proceed the operational control for the MAS. By virtue of the algebraic state space representation (ASSR) method, an equivalent form is obtained for the WCS and MAS coupling. A necessary and sufficient condition in terms of constrained set stabilization is then established to ensure the Lyapunov-like performance with expected decay rate. Finally, a graphical method together with the breath-first searching is provided to design state feedback controllers for the MAS. With this method, it is easy to check the constrained set stabilization of MAS and to ensure the performance requirements of WCS in the presence of WCS and MAS coupling. The study of an illustrative example shows the effectiveness of the proposed method. Copyright © 2022, The Authors. All rights reserved.

关键词： controllers

Distributionally Robust Day-ahead Scheduling for Power-traffic Network under a Potential Game Framework

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arXiv 2022年

作者： Deng, Haoran Yang, Bo Ning, Chao Chen, Cailian Guan, Xinping The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Widespread utilization of electric vehicles (EVs) incurs more uncertainties and impacts on the scheduling of the power-transportation coupled network. This paper investigates optimal power scheduling for a power-transportation coupled network in the day-ahead energy market considering multiple uncertainties related to photovoltaic (PV) generation and the traffic demand of vehicles. The crux of this problem is to model the coupling relation between the two networks in the day-ahead scheduling stage and consider the intra-day spatial uncertainties of the source and load. Meanwhile, the flexible load with a certain adjustment margin is introduced to ensure the balance of supply and demand of power nodes and consume the renewable energy better. Furthermore, we show the interactions between the power system and EV users from a potential game-theoretic perspective, where the uncertainties are characterized by an ambiguity set. In order to ensure the individual optimality of the two networks in a unified framework in day-ahead power scheduling, a two-stage distributionally robust centralized optimization model is established to carry out the equilibrium of power-transportation coupled network. On this basis, a combination of the duality theory and the Benders decomposition is developed to solve the distributionally robust optimization (DRO) model. Simulations demonstrate that the proposed approach can obtain individual optimal and less conservative strategies. © 2022, CC BY-NC-SA.

关键词： Electric loads

How to Share: Balancing Layer and Chain Sharing in Industrial Microservice Deployment

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arXiv 2022年

作者： Liu, Yuxiang Yang, Bo Wu, Yu Chen, Cailian Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

With the rapid development of smart manufacturing, edge computing-oriented microservice platforms are emerging as an important part of production control. In the containerized deployment of microservices, layer sharing can reduce the huge bandwidth consumption caused by image pulling, and chain sharing can reduce communication overhead caused by communication between microservices. The two sharing methods use the characteristics of each microservice to share resources during deployment. However, due to the limited resources of edge servers, it is difficult to meet the optimization goals of the two methods at the same time. Therefore, it is of critical importance to realize the improvement of service response efficiency by balancing the two sharing methods. This paper studies the optimal microservice deployment strategy that can balance layer sharing and chain sharing of microservices. We build a problem that minimizes microservice image pull delay and communication overhead and transform the problem into a linearly constrained integer quadratic programming problem through model reconstruction. A deployment strategy is obtained through the successive convex approximation (SCA) method. Experimental results show that the proposed deployment strategy can balance the two resource sharing methods. When the two sharing methods are equally considered, the average image pull delay can be reduced to 65% of the baseline, and the average communication overhead can be reduced to 30% of the baseline. Copyright © 2022, The Authors. All rights reserved.

关键词： Production control

FFPA-Net: Efficient Feature Fusion with Projection Awareness for 3D Object Detection

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arXiv 2022年

作者： Jiang, Chaokang Wang, Guangming Wu, Jinxing Miao, Yanzi Wang, Hesheng Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China The Department of Engineering Mechanics Shanghai Jiao Tong University Shanghai200240 China

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D object detection. In this paper, first, unstructured 3D point clouds are filled in the 2D plane and 3D point cloud features are extracted faster using projection-aware convolution layers. Further, the corresponding indexes between different sensor signals are established in advance in the data preprocessing, which enables faster cross-modal feature fusion. To address LiDAR points and image pixels misalignment problems, two new plug- and-play fusion modules, LiCamFuse and BiLiCamFuse, are proposed. In LiCamFuse, soft query weights with perceiving the Euclidean distance of bimodal features are proposed. In BiLiCamFuse, the fusion module with dual attention is proposed to deeply correlate the geometric and textural features of the scene. The quantitative results on the KITTI dataset demonstrate that the proposed method achieves better feature-level fusion. In addition, the proposed network shows a shorter running time compared to existing methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection