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A novel memetic algorithm for distributed shape formation of swarm robots with both acceleration and velocity constraints

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Science China(Information Sciences) 2024年第12期67卷 157-175页

作者： Yun QU Bin XIN Qinqin WANG Ruocheng LI Zhaofeng DU National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Science and Technology Innovation Center

This article investigates the problem of distributed shape formation(DSF) in swarm robot systems. DSF involves each robot autonomously selecting and moving toward a target point to achieve a desired shape. A comprehensive mathematical model for DSF of swarm robots is developed, capturing the relationships among states, behaviors, and kinematics constraints. A novel memetic algorithm(MA) is proposed to generate and evolve behavior strategies that enable real-time decision-making for each *** proposed MA includes specifically designed behaviors to address subproblems within DSF, such as target selection conflict, collision, and deadlock. These behaviors, along with propositions about the states of robots,are utilized to construct strategies by a tree-based encoding scheme. An evaluation mechanism based on multiagent simulation is devised to evaluate the performance of strategies. Additionally, a repair mechanism is introduced to eliminate redundant or unreachable subtrees in a strategy. To further improve the performance of generated strategies, tree-based local search operators are employed to exploit the neighborhood of the best strategy found yet during the iteration. Experimental results and the Wilcoxon rank-sum test show that the strategies generated by the proposed MA outperform state-of-the-art algorithms, significantly reducing the completion time of DSF.

关键词： distributed shape formation swarm memetic algorithm strategy decision-making

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Embodied intelligence in RO/RO logistic terminal:autonomous intelligent transportation robot architecture

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Science China(Information Sciences) 2025年第5期68卷 153-169页

作者： Yongkang XU Runjiao BAO Lin ZHANG Junzheng WANG Shoukun WANG School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology

In this paper, an autonomous intelligent transportation robot equipped with intelligent perception and autonomous planning modules is proposed to meet the requirements of roll-on/roll-off(RO/RO) logistics terminals for the autonomous transportation of various types of finished vehicles. Based on the robot operating system(ROS) framework and a modular design approach, the robot integrates several key components, including a visual perception module, an autonomous planning module, a motion control module, an execution module, and an energy module. First, an improved convex hull algorithm efficiently extracts point cloud data, enhancing the efficiency of point cloud processing and addressing the issue of excessive target data. Three different evaluation methods were employed to determine the optimal bounding box of the target vehicle and to obtain its pose state. Second, improved proximal policy optimization(PPO) and generalized advantage estimation(GAE) algorithms, which are utilized in this paper, were implemented to autonomously plan collisionfree trajectories for robots, facilitating their movement from an initial position to the target transportation location, and subsequently to the final placement position. Finally, physical experiments confirmed that the robot effectively mimics the three fundamental components of humanoid functionality: perception, cognition, and action, thus enabling autonomous and intelligent handling of complex vehicle transportation tasks. These demonstrations validate the feasibility and effectiveness of the proposed robot.

关键词： embodied intelligence transportation robot RO/RO logistic terminal detection autonomous planning

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Characteristic model-based control of aerial manipulator for improved interaction stability

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Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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Automatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments

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Journal of Bionic Engineering 2025年第2期22卷 574-584页

作者： Fu Zhao Haoran Rong Lefeng Wang State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150080China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of EducationHarbin University of Science and TechnologyHarbin150080China

Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.

关键词： Magnetic actuation Helical microrobots Visual servo Motion control Docking

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Full-Scale Isogeometric Topology Optimization of Cellular Structures Based on Kirchhoff-Love Shells

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Computer Modeling in Engineering & Sciences 2024年第6期139卷 2479-2505页

作者： Mingzhe Huang Mi Xiao Liang Gao Mian Zhou Wei Sha Jinhao Zhang State Key Lab of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan430074China

Cellular thin-shell structures are widely applied in ultralightweight designs due to their high bearing capacity and strength-to-weight *** this paper,a full-scale isogeometric topology optimization(ITO)method based on Kirchhoff-Love shells for designing cellular tshin-shell structures with excellent damage tolerance ability is *** method utilizes high-order continuous nonuniform rational B-splines(NURBS)as basis functions for Kirchhoff-Love shell *** geometric and analysis models of thin shells are unified by isogeometric analysis(IGA)to avoid geometric approximation error and improve computational *** topological configurations of thin-shell structures are described by constructing the effective density field on the *** volume constraints are imposed in the proximity of each control point to obtain bone-like cellular *** facilitate numerical implementation,the p-norm function is used to aggregate local volume constraints into an equivalent global *** numerical examples are provided to demonstrate the effectiveness of the proposed *** simulation and comparative analysis,the results indicate that the cellular thin-shell structures optimized by the proposed method exhibit great load-carrying behavior and high damage robustness.

关键词： Cellular thin-shell structures isogeometric analysis full-scale topology optimization Kirchhoff–Love shells

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Coalition formation problem: a capability-centric analysis and general model

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Science China(Information Sciences) 2024年第11期67卷 180-193页

作者： Jie CHEN Miao GUO Bin XIN Qing WANG Shengyu LU Yipeng WANG Yulong DING School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Department of Control Science and Engineering Tongji University

Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collaboration and human-robot collaboration. However, the analysis on CF problems remains *** provide a valuable study reference for researchers interested in CF, this paper proposed a capabilitycentric analysis of the CF problem. The key problem elements of CF are firstly extracted by referencing the concepts of the 5W1H method. That is, objects(who) form coalitions(what) to accomplish missions(why) by aggregating capabilities(how) in a specific environment(where-when). Then, a multi-view analysis of these elements and their correlation in terms of capabilities is proposed through various logic diagrams, structure charts, etc. Finally, to facilitate a deeper understanding of capability-centric CF, a general mathematical model is constructed, demonstrating how the different concepts discussed in this analysis contribute to the overall model.

关键词： coalition formation capability aggregation capability metric mission requirement environmental effect

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Aerial target threat assessment based on gated recurrent unit and self-attention mechanism

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Journal of systems Engineering and Electronics 2024年第2期35卷 361-373页

作者： CHEN Chen QUAN Wei SHAO Zhuang School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China

Aerial threat assessment is a crucial link in modern air combat, whose result counts a great deal for commanders to make decisions. With the consideration that the existing threat assessment methods have difficulties in dealing with high dimensional time series target data, a threat assessment method based on self-attention mechanism and gated recurrent unit(SAGRU) is proposed. Firstly, a threat feature system including air combat situations and capability features is established. Moreover, a data augmentation process based on fractional Fourier transform(FRFT) is applied to extract more valuable information from time series situation features. Furthermore, aiming to capture key characteristics of battlefield evolution, a bidirectional GRU and SA mechanisms are designed for enhanced ***, after the concatenation of the processed air combat situation and capability features, the target threat level will be predicted by fully connected neural layers and the softmax classifier. Finally, in order to validate this model, an air combat dataset generated by a combat simulation system is introduced for model training and testing. The comparison experiments show the proposed model has structural rationality and can perform threat assessment faster and more accurately than the other existing models based on deep learning.

关键词： target threat assessment gated recurrent unit(GRU) self-attention(SA) fractional Fourier transform(FRFT)

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Deep Reinforcement Learning-based Multi-Objective Scheduling for Distributed Heterogeneous Hybrid Flow Shops with Blocking Constraints

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Engineering 2025年第3期46卷 278-291页

作者： Xueyan Sun Weiming Shen Jiaxin Fan Birgit Vogel-Heuser Fandi Bi Chunjiang Zhang State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Institute of Automation and Information Systems Technical University of MunichGarching 85748Germany

This paper investigates a distributed heterogeneous hybrid blocking flow-shop scheduling problem(DHHBFSP)designed to minimize the total tardiness and total energy consumption simultaneously,and proposes an improved proximal policy optimization(IPPO)method to make real-time decisions for the DHHBFSP.A multi-objective Markov decision process is modeled for the DHHBFSP,where the reward function is represented by a vector with dynamic weights instead of the common objectiverelated scalar value.A factory agent(FA)is formulated for each factory to select unscheduled jobs and is trained by the proposed IPPO to improve the decision *** FAs work asynchronously to allocate jobs that arrive randomly at the shop.A two-stage training strategy is introduced in the IPPO,which learns from both single-and dual-policy data for better data *** proposed IPPO is tested on randomly generated instances and compared with variants of the basic proximal policy optimization(PPO),dispatch rules,multi-objective metaheuristics,and multi-agent reinforcement learning *** experimental results suggest that the proposed strategies offer significant improvements to the basic PPO,and the proposed IPPO outperforms the state-of-the-art scheduling methods in both convergence and solution quality.

关键词： Multi-objective Markov decision process Multi-agent deep reinforcement learning Proximal policy optimization Distributed hybrid flow-shop scheduling Blocking constraints

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Inexact proximal gradient algorithm with random reshuffling for nonsmooth optimization

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Science China(Information Sciences) 2025年第1期68卷 219-237页

作者： Xia JIANG Yanyan FANG Xianlin ZENG Jian SUN Jie CHEN National Key Lab of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center School of Electronic and Information Engineering Tongji University

Proximal gradient algorithms are popularly implemented to achieve convex optimization with nonsmooth regularization. Obtaining the exact solution of the proximal operator for nonsmooth regularization is challenging because errors exist in the computation of the gradient; consequently, the design and application of inexact proximal gradient algorithms have attracted considerable attention from researchers. This paper proposes computationally efficient basic and inexact proximal gradient descent algorithms with random reshuffling. The proposed stochastic algorithms take randomly reshuffled data to perform successive gradient descents and implement only one proximal operator after all data pass through. We prove the convergence results of the proposed proximal gradient algorithms under the sampling-without-replacement reshuffling *** computational errors exist in gradients and proximal operations, the proposed inexact proximal gradient algorithms can converge to an optimal solution neighborhood. Finally, we apply the proposed algorithms to compressed sensing and compare their efficiency with some popular algorithms.

关键词： proximal operator random reshuffling inexact computation compressed sensing nonsmooth optimization

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MC-NeRF: Multi-Camera Neural Radiance Fields for Multi-Camera Image Acquisition systems

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IEEE Transactions on Visualization and Computer Graphics 2025年第5期31卷 2725-2735页

作者： Gao, Yu Su, Lutong Liang, Hao Yue, Yufeng Yang, Yi Fu, Mengyin Beijing Institute of Technology School of Automation Beijing China Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Beijing China

Neural Radiance Fields (NeRF) use multi-view images for 3D scene representation, demonstrating remarkable performance. As one of the primary sources of multi-view images, multi-camera systems encounter challenges such as varying intrinsic parameters and frequent pose changes. Most previous NeRF-based methods assume a unique camera and rarely consider multi-camera scenarios. Besides, some NeRF methods that can optimize intrinsic and extrinsic parameters still remain susceptible to suboptimal solutions when these parameters are poor initialized. In this paper, we propose MC-NeRF, a method for joint optimization of both intrinsic and extrinsic parameters alongside NeRF, allowing individual camera parameters for each image. First, we analyze the coupling issue that arises from the joint optimization between intrinsics and extrinsics, and propose a decoupling constraint utilizing auxiliary images. To further address the degenerate cases in the decoupling process, we introduce an efficient auxiliary image acquisition scheme to mitigate these effects. Furthermore, recognizing that most existing datasets are designed for a unique camera, we provided a new dataset that includes both simulated data and real-world data. Experiments demonstrate the effectiveness of our method in scenarios where each image corresponds to different camera parameters. Specifically, our approach outperforms the baselines favorably in terms of intrinsics estimation, extrinsics estimation, scale estimation, and rendering quality. The Code and supplementary materials are available at https://***/MC-NeRF. © 1995-2012 IEEE.

关键词： Volume rendering

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