To ensure reliable localization for Unmanned Aerial Vehicles(UAVs) in the presence of uncertain speed of the Unmanned Ground Vehicle (UGV), this study examines the relative localization problem of UAV-UGV using distan...
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Deforestation is the primary source of global warming;traditional shelf labels use paper to display the price of the products, and human forces play a pivotal role in updating the tags where the pandemic has strictly ...
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Path planning is one of the most critical links in mobile robots. Its timeliness, security and accessibility are crucial to the development and wide application of mobile robots. However, in solving the problem of pat...
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Dear Editor,In this letter,in order to deal with random network delays and packet losses in a class of networked nonlinear systems,three data-driven networked predictive control methods are *** closed-loop systems and...
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Dear Editor,In this letter,in order to deal with random network delays and packet losses in a class of networked nonlinear systems,three data-driven networked predictive control methods are *** closed-loop systems and control increments are derived,respectively.
Networked controlsystems(NCSs)are facing a great challenge from the limitation of network communication ***-triggered control(ETC)is often used to reduce the amount of communication while still keeping a satisfactory...
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Networked controlsystems(NCSs)are facing a great challenge from the limitation of network communication ***-triggered control(ETC)is often used to reduce the amount of communication while still keeping a satisfactory performance of the system,by transmitting the measurements only when an event-triggered condition is ***,some network-induced problems would happen inevitably,such as communication delay and packet loss,which can degrade the control performance significantly and can even lead to *** this paper,a periodic event-triggered NCS considering both time-varying delay and packet loss is *** system is discretized into a piecewise linear system with *** the model is handled by a polytopic over-approximation method to be more suitable for stability ***,stability conditions are obtained and presented in terms of linear matrix inequalities(LMIs).The result is illustrated by a numerical example.
In practical applications of multi-agent systems, agents are often heterogeneous, and each type of them typically has different task objectives. For heterogeneous multi-agent reinforcement learning(HMARL), the diversi...
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ISBN:
(数字)9789887581581
ISBN:
(纸本)9798350366907
In practical applications of multi-agent systems, agents are often heterogeneous, and each type of them typically has different task objectives. For heterogeneous multi-agent reinforcement learning(HMARL), the diversity of agent types and the unbalanced agent number of each type can lead to the curse of dimensionality and non-stationary. Moreover, the increase in the number of heterogeneous agents may result in slow convergence during training. This paper proposes a graph-based selection-activation reinforcement learning(GSARL) method for training heterogenous multi-agent collaboration strategies. It first constructs agents based on their types, then extracts the global adjacency matrices and the ally adjacency matrices from the agents' observations, and calculates the global feature matrices. Afterwards, GSARL utilizes hierarchical graph convolutional network to sequentially convolve the global information and ally information, obtaining action logits based on agent types. By using the neural topology graph and the selection-activation method, the optimal multi-agent collaboration configuration is obtained through combinatorial optimization. Experiments are conducted in an adversarial combat simulation environment involving collaborative Unmanned Aerial Vehicles(UAVs) and Unmanned Ground Vehicles(UGVs). Simulation results show that the proposed method can accelerate convergence while allowing that each type of heterogeneous agents can leverage its unique advantages.
In view of the problems of high energy consumption, long inventory time and low production efficiency in the production process of traditional aluminum extrusion machine, this paper establishes an efficient two-stage ...
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With the increasing number of satellites being launched in China,the demand for Telemetry,Tracking,and Command(TT&C)resources is also *** of the global coverage and resource requirements of TT&C management,thi...
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With the increasing number of satellites being launched in China,the demand for Telemetry,Tracking,and Command(TT&C)resources is also *** of the global coverage and resource requirements of TT&C management,this paper proposes a TT&C scheme based on the Global Short-Message Communication system(GSMCS)of the BeiDou-3 Navigation Satellite system(BDS-3).The system composition,workflow,and functions of satellite TT&C are analyzed using the GSMCS of *** the coverage analysis of the Medium Earth Orbit(MEO)constellation of BDS-3,scheme’s applicability is pointed out,and the correctness of the analysis results is verified via *** value range of the link distance is derived by calculating the range of the distance variation between any 2 satellites in the BDS-3 MEO constellation and combining the intersatellite routing *** calculation results show that the response time range of the autonomous request management application of in-orbit satellites based on the GSMCS of BDS-3 is 1.407 to 2.448 *** can meet the requirements of TT&C service.
作者：
Xu, RuijieChen, ShichaoSun, WenqiaoLv, YishengLuo, JialiangTang, YingInstitute of Automation
Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation
Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute
The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China Institute of Automation
Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation
Chinese Academy of Sciences China University of Geosciences Beijing School of Information Engineering The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Rowan University
Department of Electrical and Computer Engineering Glassboro United States
Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation system ...
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Although skeleton-based gesture recognition based on supervised learning has made promising achievements, the reliance on large amounts of annotation for training poses a significant cost. This paper addresses semi-su...
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