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Chinese Intelligent Automation Conference, CIAC 2023

作者： Cui, Zhuofan Tao, Junyi He, Bin Zhang, Yu State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou China

ISBN: (纸本)9789819961863

High-precision maps and localization techniques are important modules in robot systems. However, the existing simultaneous localization and mapping methods using the same sensors in both localization and mapping tasks suffers from high costs and inflexibility. Therefore, the method of implementing a low-cost visual sensor to achieve indoor localization with the pre-obtained high-precision point cloud maps is proposed in this paper. To find a similar area represented by point cloud of the maps and the sensors, a localization strategy based on ICP for point cloud matching is completed on the premise of giving a rough initial pose. Meanwhile, visual odometry is integrated into the localization framework to conquer the localization failure caused by repeated point cloud features in indoor environments. The sub-meter level localization accuracy in the indoor building environment is achieved in the experiments. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Mapping

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Downsampling Assessment for LiDAR SLAM

Downsampling Assessment for LiDAR SLAM

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Chinese Intelligent Automation Conference, CIAC 2023

作者： Zhang, Jiabao Zhang, Yu State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou China

ISBN: (纸本)9789819961863

LiDAR has become a widely used sensor in many autonomous areas, and LiDAR SLAM is one of essential applications. With the tendency of lightweight structure and the improvement of LiDAR resolution, downsampling points from LiDAR raw data has been utilized in some system. In this paper, we focus on the influence of point downsampling, especially on location and mapping, and propose a benchmark method to evaluate the LiDAR SLAM system based on downsampling property. Three criteria including RPE Degeneration, ATE Degeneration, and Precision Maintenance Rate are defined for assessment. Then, groups of experiments using this evaluation method are conducted, with a comparison and discussion of system characteristics, which may contribute to subsequent development of LiDAR SLAM system. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Optical radar

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FD-SLAM: Real-time tracking and mapping in dynamic environments

FD-SLAM: Real-time tracking and mapping in dynamic environme...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Xu, Hua Yang, Chenguang Feng, Ying Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9781728158594

A robot needs the ability of Simultaneous Localization and Mapping(SLAM) in an unknown environment. It can help the robot navigation and tracking. The traditional method only considers that the robot works in a static environment. But in most cases, the robot should work in a highly dynamic environment like people. This paper presents a novel SLAM system named FD-SLAM, building on ORB-SLAM2 [1], which adds the abilities of dynamic object detection and fusion of depth image and semantic image to better estimate the position of people in an image. To improve the real-time performance of FD-SLAM, it has five threads that run simultaneously in FD-SLAM: tracking, semantic segmentation, local mapping, loop closing, and point cloud mapping. FD-SLAM uses the deep neural network algorithm to detect the dynamic object and combine the depth image with the corresponding semantic image to obtain a more accurate position of a dynamic object thus reducing the impact of dynamic objects to more accurately estimate the pose of the camera. Finally, the point cloud thread uses each keyframe to create a point cloud map. We experiment with a public dataset. The results show that the absolute trajectory error of FD-SLAM is smaller than that of ORB-SLAM and DS-SLAM, and it has better real-time performance than other SLAM systems for a dynamic environment. © 2019 IEEE.

关键词： Semantics

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Research on Linear Quadratic Robust control Algorithm for Non-stochastic Uncertain System 29

Research on Linear Quadratic Robust Control Algorithm for No...

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第29届中国控制与决策会议

作者： Jiaoru Huang Jiayue Ma Fucai Qian Chaobo Chen Xiaoru Song The International Joint Research Center of Autonomous Systems and Intelligent Control Xi'an Technological University Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

ISBN: (纸本)9781509046584

A Linear Quadratic robust control algorithm is proposed for the system with non-stochastic *** this paper,the uncertainties are the noises which lie in a bounded ellipsoid *** assumption weakens the requirements of the known Gaussian distribution in the traditional Linear Quadratic Gaussian（LQG） *** on the linear characteristic of the system and robust optimization theory,the linear quadratic robust controller is *** simulation results show the effectiveness of the algorithm.

关键词： Non-stochastic uncertainties robust optimization Linear Quadratic robust control

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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

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Science China(Technological Sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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Distributed Optimization and Scaling Design for Solving Sylvester Equations

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Journal of systems Science & Complexity 2024年第6期37卷 2487-2510页

作者： CHENG Songsong YU Xin ZENG Xianlin LIANG Shu HONG Yiguang Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 201210China

This paper develops distributed algorithms for solving Sylvester *** authors transform solving Sylvester equations into a distributed optimization problem,unifying all eight standard distributed matrix *** the authors propose a distributed algorithm to find the least squares solution and achieve an explicit linear convergence *** results are obtained by carefully choosing the step-size of the algorithm,which requires particular information of data and Laplacian *** avoid these centralized quantities,the authors further develop a distributed scaling technique by using local information *** a result,the proposed distributed algorithm along with the distributed scaling design yields a universal method for solving Sylvester equations over a multi-agent network with the constant step-size freely chosen from configurable ***,the authors provide three examples to illustrate the effectiveness of the proposed algorithms.

关键词： Distributed optimization least squares solution linear convergence rate step-size interval Sylvester equation

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Dynamic surface control of shape memory alloy actuating systems with inverse Duhem hysteresis compensation 15

Dynamic surface control of shape memory alloy actuating syst...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, Rui Feng, Ying Hu, Zedong School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou510640 China

ISBN: (纸本)9781538660720

Shape Memory Alloys actuators are a class of smart materials-based actuators, and show a good output performance with high force to mass ratio, biocompatibility and small size. However, the internal hysteresis nonlinearities between the input temperature and output displacement adversely affect the output accuracy and they cannot be mitigated directly because of the strong non-smooth feature of SMA materials. To improve the actuating ability of SMA system, an estimated hysteresis inverse is employed based on Duhem model as the compensation of SMA actuator in this paper. Considering the dynamics of the SMA actuating system and the compensation error, a dynamic surface controller (DSC) is designed. The simulation results validate the effectiveness of the proposed approach. © 2018 IEEE.

关键词： Hysteresis

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Failure mechanism and tunable mechanical responses of structured fabrics

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Composites Communications 2025年 57卷

作者： Zhantu Gan Weining Mao Qianpeng He Hao Tang Yifan Wang Nan Hu State Key Laboratory of Subtropical Building and Urban Science Guangzhou 510641 China School of Civil Engineering and Transportation South China University of Technology Guangzhou 510000 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 639798 Singapore Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou 510640 China

Structured fabrics have great potential in designing intelligent devices with their reconfigurable features and tunable mechanical responses, but existing studies have primarily explored stiffness and deformations without focusing on their load-bearing capacities. Here, we investigate the failure mechanism and mechanical responses of a structured fabric formed under various combinations of geometric features. Guided by experimental tests, we confirm the influence of geometric features that lead to rod fracture or membrane tearing due to different interaction mechanisms. Our findings indicate that the specific ultimate bearing capacity can be tuned within an order of magnitude with different parameter combinations. This study offers valuable insights into the governing factors in controlling the load-bearing capabilities of structured fabrics and lays the foundation for developing on-demand impact-protecting composites across fields.

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An Automated Reinforcement Learning Reward Design Framework with Large Language Model for Cooperative Platoon Coordination

arXiv

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arXiv 2025年

作者： Wei, Dixiao Yi, Peng Lei, Jinlong Hong, Yiguang Du, Yuchuan Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai201210 China Department of Control Science and Engineering Tongji University Shanghai201804 China School of Transportation Engineering Key Laboratory of Road and Traffic Engineering Ministry of Education Tongji University Shanghai201804 China

Reinforcement Learning (RL) has demonstrated excellent decision-making potential in platoon coordination problems. However, due to the variability of coordination goals, the complexity of the decision problem, and the time-consumption of trial-and-error in manual design, finding a well performance reward function to guide RL training to solve complex platoon coordination problems remains challenging. In this paper, we formally define the Platoon Coordination Reward Design Problem (PCRDP), extending the RL-based cooperative platoon coordination problem to incorporate automated reward function generation. To address PCRDP, we propose a Large Language Model (LLM)-based Platoon coordination Reward Design (PCRD) framework, which systematically automates reward function discovery through LLM-driven initialization and iterative optimization. In this method, LLM first initializes reward functions based on environment code and task requirements with an Analysis and Initial Reward (AIR) module, and then iteratively optimizes them based on training feedback with an evolutionary module. The AIR module guides LLM to deepen their understanding of code and tasks through a chain of thought, effectively mitigating hallucination risks in code generation. The evolutionary module fine-tunes and reconstructs the reward function, achieving a balance between exploration diversity and convergence stability for training. To validate our approach, we establish six challenging coordination scenarios with varying complexity levels within the Yangtze River Delta transportation network simulation. Comparative experimental results demonstrate that RL agents utilizing PCRD-generated reward functions consistently outperform human-engineered reward functions, achieving an average of 10% higher performance metrics in all scenarios. Copyright © 2025, The Authors. All rights reserved.

关键词： Deep reinforcement learning

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Cooperative Output Regulation of Heterogeneous systems over Directed Graphs:A Dynamic Adaptive Event-Triggered Strategy

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Journal of systems Science & Complexity 2023年第3期36卷 909-921页

作者： SU Hang CHENG Bin LI Zhongkui State Key Laboratory for Turbulence and Complex Systems and Department of Mechanics and Engineering Science College of EngineeringPeking UniversityBeijing 100871China Department of Control Science and Engineering College of Electronics and Information EngineeringTongji UniversityShanghai 201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai 201210China

This paper investigates the cooperative output regulation problem of heterogeneous linear multi-agent systems over directed graphs with the constraint of communication *** that there exists an exosystem whose state information is not available to all agents,the authors develop distributed adaptive event-triggered observers for the followers based on relative information between neighboring *** should be pointed out that,two kinds of time-varying gains are introduced to avoid relying on any global information associated with the network,and dynamic triggering conditions are designed to get rid of continuous *** the basis of the designed observers,the authors devise a local controller for each *** with the existing related works,the main contribution of the current paper is that the cooperative output regulation problem for general directed graphs is solved requiring neither global information nor continuous communications.

关键词： Adaptive control consensus cooperative output regulation directed graph event-triggered control multi-agent systems

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