检索结果-内蒙古大学图书馆

6th International Conference on Cognitive systems and Signal Processing, ICCSIP 2021

作者： Chaochen, Zhuolei Zhang, Qichao Li, Ding Li, Haoran Pang, Zhonghua North China University of Technology Beijing100144 China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China College of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Hunan University Changsha410082 China

ISBN: (纸本)9789811692468

Trajectory prediction is one of the main challenges to autonomous vehicles. Except for the predicted vehicle historical trajectory information, viable solutions for this task must also consider the static geometric context, such as lane centerlines, and the dynamic interaction information among traffic participants, such as the influence of surrounding vehicles or pedestrians on the predicted vehicle. Recently, mainstream methods are mostly based on recurrent neural networks, which have achieved state-of-the-art (SOTA) performance on distance-based prediction metrics. In order to consider the influence of static geometric context and dynamic interaction information better for the vehicle trajectory prediction, we propose a two-stage prediction framework and a combined VAE-GAT model. Stage I estimates the future destination point of the predicted vehicle using a destination point estimation module based on VAE. In stage II, it produces multiple trajectories using a multiple trajectories prediction module based on GAT which consists of an LSTM-based encoder-decoder and a graph attention network. Finally, one specific trajectory is selected from multiple trajectories conditioned on the estimated destination point. The experimental results and performance comparison based on the Argoverse motion forecasting dataset are given to prove the effectiveness of the proposed method. © 2022, Springer Nature Singapore Pte Ltd.

关键词： Long short-term memory

来源：评论

学校读者我要写书评

暂无评论

Call for V&VIV: Verification and Validation of Intelligent Vehicles

引用

IEEE Transactions on Intelligent Vehicles 2022年第3期7卷 401-406页

作者： Fei-Yue Wang Javier Ibanez-Guzman Yisheng Lv State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Expert Autonomous Systems Artificial Intelligence Renault S.A. SIVALab CNRS Common Laboratory Chateau Renault France

Presents a summary of articles included in this issue of the publication.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Snoring detection based on a stretchable strain sensor

引用

Science China(Information Sciences) 2021年第7期64卷 224-226页

作者： Zhengwei LI Qingkun SONG Long CHENG Min TAN School of Automation Harbin University of Science and Technology State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

Snoring is caused by the stenosis of the upper respiratory tract, which can lead to the vibration of the palatine *** brings not only harm to the snorer [1] but also sleep deprivation to those around them [2]. Furthermore, studies show that loud snorers have a 67%greater chance of suffering from a stroke and a 34%higher risk of having a heart attack. To identify people at risk from these diseases,snoring recording and analysis become highly important [3].

关键词： Information systems and Communication Service

来源：评论

学校读者我要写书评

暂无评论

Consensus control of Leader-Following Multi-Agent systems in Directed Topology With Heterogeneous Disturbances

引用

IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 423-431页

作者： Qinglai Wei Xin Wang Xiangnan Zhong Naiqi Wu the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049and also with Qingdao Academy of Intelligent IndustriesQingdao 266109China the Department of Computer and Electrical Engineering and Computer Science Florida Atlantic UniversityBoca Raton FL33431 USA the Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and SystemsMacao University of Science and TechnologyMacao 999078China

This paper investigates the consensus problem for linear multi-agent systems with the heterogeneous disturbances generated by the Brown *** main contribution is that a control scheme is designed to achieve the dynamic consensus for the multi-agent systems in directed topology interfered by stochastic *** traditional ways,the coupling weights depending on the communication structure are static.A new distributed controller is designed based on Riccati inequalities,while updating the coupling weights associated with the gain matrix by state errors between adjacent *** introducing time-varying coupling weights into this novel control law,the state errors between leader and followers asymptotically converge to the minimum value utilizing the local *** the Lyapunov directed method and It?formula,the stability of the closed-loop system with the proposed control law is *** simulation results conducted by the new and traditional schemes are presented to demonstrate the effectiveness and advantage of the developed control method.

关键词： Consensus control directed topology external disturbance multi-agent(MA)systems

来源：评论

学校读者我要写书评

暂无评论

Optimization of Wide-Baseline Stereo Matching Based on Multi-View Geometry

Optimization of Wide-Baseline Stereo Matching Based on Multi...

引用

Chinese automation Congress (CAC)

作者： Yinhui Xu Shuo Shan Gongben Han Shixiong Fang Kanjian Zhang Haikun Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China Shenzhen Research Institute Southeast University Shenzhen China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Stereo vision plays a crucial role in scientific expeditions and facility maintenance. However, fixed-baseline stereo vision lacks accuracy for long-distance measurements, while wide-baseline stereo vision encounters occlusion issues at short distances. In this study, a wide-baseline stereo matching based on multi-view geometric constraints is proposed. Initially, the camera poses of multiple wide-baseline images are estimated, followed by image rectification and depth estimation. Subsequently, the disparity searching is constrained using geometric relationships among the views, resulting in more precise depth maps. Experiments were conducted to verify the superiority of the proposed method. The results indicate that the proposed method achieves an RMSE as low as 0.15 meters, even with invalid depth points. Compared to traditional stereo vision methods, accuracy is improved by approximately 35%, and robustness is significantly enhanced. In the aircraft runway scenario, overall depth map accuracy is higher, and occluded areas are significantly reduced.

关键词： Geometry Meters Accuracy Depth measurement Cameras Robustness Real-time systems Stereo vision Maintenance Optimization

来源：评论

学校读者我要写书评

暂无评论

Decentralized Reinforcement Learning for Multiple Robotic Fish in Cooperative Pursuit Task

引用

IEEE Transactions on Cognitive and Developmental systems 2025年

作者： Feng, Yukai Wu, Zhengxing Wang, Jian Li, Sijie Huang, Yupei Yu, Junzhi Tan, Min Institute of Automation Chinese Academy of Sciences Key Laboratory of Cognition and Decision Intelligence for Complex Systems Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China College of Engineering Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics Beijing100871 China

The control of multi-robot systems, particularly in the pursuit-evasion (PE) with multiple robots, has gained significant attention in both academic and non-academic settings. However, the collaborative operation of multi-robotic fish systems encounters substantial challenges due to the complex underwater environment and unique movement mode. In this paper, we propose a multi-agent reinforcement learning (MARL) approach to develop a viable strategy for underwater cooperative pursuit. Initially, considering the hydrodynamic model and motion characteristics of robotic fish, we construct a specific simulation environment with multiple fish-like agents, which provides a highly realistic state transition model. Next, we develop a MARL-based strategy learning framework that incorporates appropriate reward functions and agent actions for policy learning. Finally, a series of comprehensive simulations and practical experiments are conducted to validate the effectiveness of the proposed method and confirm its successful application in underwater pursuit scenarios. These findings offer valuable insights for further research in underwater multiple robot systems. © 2016 IEEE.

关键词： Chatbots

来源：评论

学校读者我要写书评

暂无评论

Consistent Extended Kalman Filter Design for Maneuvering Target Tracking and Its Application on Hand Position Tracking

引用

Guidance, Navigation and control 2022年第2期2卷 33-58页

作者： Lin Tian Yang Xu Wenchao Xue Long Cheng The State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190P.R.China School of Arti-cial Intelligence University of Chinese Academy of SciencesBeijing 100049P.R.China The Key Laboratory of Systems and Control National Center for Mathematics and Interdisciplinary SciencesAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190P.R.China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049P.R.China

This paper propees the consistent extended Kalman flter(CEKF)for the maneuvering target tracking(MTT)with nonlinear uncertain dynamics,and applies it on hand poition *** general modlel of the MTT system i presented with unmodleled dynamics in terms of nonlinear unknown function of *** CEKF is propoeed to ensure that the bounds of the estimation error's covariance matrix are av ailable through the flter *** a result,the creponding accuracy of the flter approach can be achieved ***,a CEKF-baaed MTT algorithm is constructed via the tumning aw of the critical parameter matrix QE Finally,the efectiveness of CEKF i verified by MTT numerical simulations and hand tacking expeiments under dilferent ***,two indices are employed to compare the CEKF with extended Kalman filter(EKF):the mean square errors(MSEa)and the bounded percentage,ie the percentage of the rang w bere the estimation error is encboed by the bound calculated by *** MSEs of CEKF are smaller than thoee of EKF,where the worst MSEa of CEKF and EKF are0.14 and 418 in the simulation,a8 well 80.11 and 059 in the expeiments,respectively;all bounded percentages of CEKF are larger than thoee of EKF,where the wonst average bounded percentages of CEKF and EKF ame 87.86%and 14.58%,8 well as 97.41%and 41.79%in the experiments,reapectively.

关键词： Maneuvering target tracking hand position tracking extended Kalman¯lter(EKF) consistency

来源：评论

学校读者我要写书评

暂无评论

MALT: Multi-scale Action Learning Transformer for Online Action Detection

MALT: Multi-scale Action Learning Transformer for Online Act...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： Zhipeng Yang Ruoyu Wang Yang Tan Liping Xie The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China Southeast University Shenzhen Research Institute Shenzhen China

ISBN: (数字)9798350359312

ISBN: (纸本)9798350359329

Online action detection (OAD) aims to identify ongoing actions from streaming video in real-time, without access to future frames. Since these actions manifest at varying scales of granularity, ranging from coarse to fine, projecting an entire set of action frames to a single latent encoding may result in a lack of local information, necessitating the acquisition of action features across multiple scales. In this paper, we propose a multi-scale action learning transformer (MALT), which includes a novel recurrent decoder (used for feature fusion) that includes fewer parameters and can be trained more efficiently. A hierarchical encoder with multiple encoding branches is further proposed to capture multi-scale action features. The output from the preceding branch is then incrementally input to the subsequent branch as part of a cross-attention calculation. In this way, output features transition from coarse to fine as the branches deepen. We also introduce an explicit frame scoring mechanism employing sparse attention, which filters irrelevant frames more efficiently, without requiring an additional network. The proposed method achieved state-of-the-art performance on two benchmark datasets (THUMOS’14 and TVSeries), outperforming all existing models used for comparison, with an mAP of 0.2% for THUMOS’14 and an mcAP of 0.1% for TVseries.

关键词： Filters Neural networks Streaming media Transformers Feature extraction Encoding Real-time systems

来源：评论

学校读者我要写书评

暂无评论

Interaction-Aware Cut-In Trajectory Prediction and Risk Assessment in Mixed Traffic

引用

IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1752-1762页

作者： Xianglei Zhu Wen Hu Zejian Deng Jinwei Zhang Fengqing Hu Rui Zhou Keqiu Li Fei-Yue Wang the College of Intelligence and Computing Tianjin UniversityTianjin 300350 the China Automotive Technology and Research Center Co.Ltd. Tianjin 300300China the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China the Department of Mechanical and Mechatronics Engineering University of WaterlooWaterlooON N2L3G1Canada the School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China the Macao University of Science and Technology MacaoChina the Waytous Inc. Qingdao 266000China IEEE the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Accurately predicting the trajectories of surrounding vehicles and assessing the collision risks are essential to avoid side and rear-end collisions caused by *** improve the safety of autonomous vehicles in the mixed traffic,this study proposes a cut-in prediction and risk assessment method with considering the interactions of multiple traffic *** integration of the support vector machine and Gaussian mixture model(SVM-GMM)is developed to simultaneously predict cut-in behavior and *** dimension of the input features is reduced through Chebyshev fitting to improve the training efficiency as well as the online inference *** on the predicted trajectory of the cut-in vehicle and the responsive actions of the autonomous vehicles,two risk measurements are introduced to formulate the comprehensive interaction risk through the combination of Sigmoid function and Softmax ***,the comparative analysis is performed to validate the proposed method using the naturalistic driving *** results show that the proposed method can predict the trajectory with higher precision and effectively evaluate the risk level of a cut-in maneuver compared to the methods without considering interaction.

关键词： Cut-in behavior interaction-aware mixed traffic risk assessment trajectory prediction

来源：评论

学校读者我要写书评

暂无评论

A Study on Decentralized Autonomous Organizations Based Intelligent Transportation System enabled by Blockchain and Smart Contract

A Study on Decentralized Autonomous Organizations Based Inte...

引用

2021 China automation Congress, CAC 2021

作者： Hou, JiaChen Ding, WenWen Liang, Xiaolong Zhu, FengHua Yuan, Yong Wang, FeiYue Institute of Systems Engineering Macau University of Science and Technology China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Mathematics Renmin University of China Beijing China

ISBN: (纸本)9781665426473

With the rapid development of the transportation industry, Intelligent Transportation System (ITS) tries to adapt to industry changes through constructing new organizational forms, management methods, and incentive mechanisms. However, many new governance issues have arisen due to the transportation system's complexity, diversity, and uncertainty. DAO(Decentralized autonomous organization) enabled by blockchain and smart contracts are regarded as effective methods to solve the organizational governance problems for complex systems. Therefore, this article analyzes the main issues currently faced by ITS. Then, this paper proposed a 6-layer DAO structure framework for ITS and discussed its key research issues. Finally, a case study for the Macau transportation system is carried out, and further research directions are proposed. The DAO-based transportation system will represent the future trend of ITS development. This paper aims to motivate more discussion for this new direction and provide helpful guidance and reference for future research work. © 2021 IEEE

关键词： Smart contract

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：