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arXiv 2023年

作者： Xia, Ruican Pei, Hailong The Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou510640 China

Relative state estimation using exteroceptive sensors suffers from limitations of the field of view (FOV) and false detection, that the proprioceptive sensor (IMU) data are usually engaged to compensate. Recently ego-motion constraint obtained by Inertial measurement unit (IMU) preintegration has been extensively used in simultaneous localization and mapping (SLAM) to alleviate the computation burden. This paper introduces an extended preintegration incorporating the IMU preintegration of two platforms to formulate the motion constraint of relative state. One merit of this analytic constraint is that it can be seamlessly integrated into the unified graph optimization framework to implement the relative state estimation in a high-performance real-time tracking thread, another point is a full smoother design with this precise constraint to optimize the 3D coordinate and refine the state for the refinement thread. We compare extensively in simulations the proposed algorithms with two existing approaches to confirm our outperformance. In the real virtual reality (VR) application design with the proposed estimator, we properly realize the visual tracking of the six degrees of freedom (6DoF) controller suitable for almost all scenarios, including the challenging environment with missing features, light mutation, dynamic scenes, etc. The demo video is at https://***/watch?v=0idb9Ls2iAM. For the benefit of the community, we make the source code public. Copyright © 2023, The Authors. All rights reserved.

关键词： Virtual reality

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Gridless Bayesian Inference for DOA Estimation with Coprime Array

Gridless Bayesian Inference for DOA Estimation with Coprime ...

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2023 IEEE International Radar Conference, RADAR 2023

作者： Liu, Ying Zhang, Zongyu Zhou, Chengwei Shi, Zhiguo Zhejiang University College of Control Science and Engineering Hangzhou310027 China Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou310015 China Zhejiang University International Joint Innovation Center Haining314400 China

ISBN: (纸本)9781665482783

In this paper, we propose a gridless Bayesian inference based direction-of-arrival (DOA) estimation algorithm with coprime array to overcome the basis mismatch arising in conventional on-grid sparse signal reconstruction based algorithms. Under Bayesian framework, the distributions of DOAs are assumed as mixtures of von Mises models yielding the continuous parameterization of the direction information, while the signals power is governed by a Bernoulli-Laplace model turning the sources number estimation into binary sequence detection. The Bayesian model is formulated on the second-order virtual coarray signals and the variational Bayesian inference is performed to realized accurate DOA estimation with increased number of degrees of freedom (DOFs). Simulation results show the effectiveness of the proposed algorithm especially at low signal-to-noise ratio (SNR). © 2023 IEEE.

关键词： Binary sequences

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Ray-Tracing based CDL Modeling for C-V2X Scenarios with Multiple Roadside Vehicles 7

Ray-Tracing based CDL Modeling for C-V2X Scenarios with Mult...

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7th IEEE International Conference on Electronic Information and Communication Technology, ICEICT 2024

作者： Wang, Yiran He, Danping Duo, Hao An, Hao Guan, Ke Tian, Dao Hrovat, Andrej Beijing Jiaotong University School of Electronic and Information Engineering Beijing100044 China CTTL-Terminal China Academy of Information and Communication Technology Beijing100083 China Beijing Jiaotong University State Key Laboratory of Advanced Rail Autonomous Operation Beijing100044 China ZTE Corporation State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518000 China Jožef Stefan Institute Department of Communication Systems Ljubljana1000 Slovenia Jožef Stefan International Postgraduate School Ljubljana1000 Slovenia

ISBN: (纸本)9798350384437

Cellular vehicle-to-everything (C-V2X) communication has provided safer and more convenient interactions between vehicles and surroundings. To support the improvement of intelligent C-V2X communication, it is essential to understand the characteristics of the wireless channel. In this paper, channel measurement is performed in the urban C-V2X scenario at 5.915 GHz. The material electromagnetic (EM) parameters are calibrated based on the measured results, which are used for multipath data obtaining in ray-tracing (RT) simulation. After that, the clustered delay line (CDL) models for the C-V2X scenario are proposed to study the spatial characteristics of the significant multipath components. Related cluster and in-cluster parameters are extracted and analyzed based on CDL modeling. This paper provides useful calibrated EM parameters for extensive simulations. The complex channel data in the C-V2X scenarios with and without multiple roadside vehicles are effectively simulated and studied. The proposed CDL models can offer guidance for channel modeling research in the C-V2X scenario. © 2024 IEEE.

关键词： C-V2X CDL model clustering ray-tracing

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A Survey on Robotic Manipulation of Deformable Objects: Recent Advances, Open Challenges and New Frontiers

arXiv

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arXiv 2023年

作者： Gu, Feida Zhou, Yanmin Wang, Zhipeng Jiang, Shuo He, Bin Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai201804 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai201210 China The Frontiers Science Center for Intelligent Autonomous Systems Shanghai200120 China The Department of Control Science and Engineering Tongji University Shanghai201804 China

Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for robotic perception, modeling and manipulation, due to the infinite dimensionality of the state space of deformable objects (DOs) and the complexity of their dynamics. The development of computer graphics and machine learning has enabled novel techniques for DOM. These techniques, based on data-driven paradigms, can address some of the challenges that analytical approaches of DOM face. However, some existing reviews do not include all aspects of DOM, and some previous reviews do not summarize data-driven approaches adequately. In this article, we survey more than 150 relevant studies (data-driven approaches mainly) and summarize recent advances, open challenges, and new frontiers for aspects of perception, modeling and manipulation for DOs. Particularly, we summarize initial progress made by Large Language Models (LLMs) in robotic manipulation, and indicates some valuable directions for further research. We believe that integrating data-driven approaches and analytical approaches can provide viable solutions to open challenges of DOM. Impact Statement-The manipulation of deformable objects is very common in industry or daily life. The applications of deformable object manipulation in industry can create enormous economic benefits, and the applications in daily life can improve quality of life, especially for people with disabilities and the elderly. Robotic manipulation tasks such as food handling, assistive dressing or clothing folding require open problems of perception, modeling and manipulation of deformable objects to be solved. Recent advances in machine learning have addressed some of the limitations of traditional approaches. Combining analytical and data-driven approaches holds the potential to bring the manipulation capa

关键词： Machine learning

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A Multi-Player Potential Game Approach for Sensor network Localization with Noisy Measurements 63

A Multi-Player Potential Game Approach for Sensor Network Lo...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Xu, Gehui Chen, Guanpu Fidan, Baris Hong, Yiguang Qi, Hongsheng Parisini, Thomas Johansson, Karl H. Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm100 44 Sweden University of Waterloo Department of Mechanical and Mechatronics Engineering WaterlooONN2L 3G1 Canada Tongji University Department of Control Science and Engineering shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China University of Chinese Academy of Sciences School of Mathematical Sciences Beijing China Aalborg University Department of Electronic Systems Denmark Imperial College London Department of Electrical and Electronic Engineering LondonSW7 2AZ United Kingdom University of Trieste Department of Engineering and Architecture Italy

ISBN: (纸本)9798350316339

Sensor network localization (SNL) is a challenging problem due to its inherent non-convexity and the effects of noise in inter-node ranging measurements and anchor node position. We formulate a non-convex SNL problem as a multiplayer non-convex potential game and investigate the existence and uniqueness of a Nash equilibrium (NE) in both the ideal setting without measurement noise and the practical setting with measurement noise. We first show that the NE exists and is unique in the noiseless case, and corresponds to the precise network localization. Then, we study the SNL for the case with errors affecting the anchor node position and the inter-node distance measurements. Specifically, we establish that in case these errors are sufficiently small, the NE exists and is unique. It is shown that the NE is an approximate solution to the SNL problem, and that the position errors can be quantified accordingly. Based on these findings, we apply the results to case studies involving only inter-node distance measurement errors and only anchor position information inaccuracies. © 2024 IEEE.

关键词： Nash equilibrium

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A Novel Fractional-Order Model of Medium-Frequency Respiratory Impedance 17

A Novel Fractional-Order Model of Medium-Frequency Respirato...

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17th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics, CISP-BMEI 2024

作者： Wang, Hongwei Li, Bin Mo, Hongqiang Xu, Yuanda Xu, Zhaoxiang Xie, Yanqing School of Automation Science and Engineering South China University of Technology Guangzhou510640 China South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China Guangzhou Medical University The First Affiliated Hospital Department of Critical Care Medicine Guangzhou510120 China Guangzhou Medical University The First Affiliated Hospital Guangzhou510080 China

ISBN: (纸本)9798331507398

Respiratory impedance in the medium-frequency range reflects the dynamic properties of airways and lung tissues, and plays an important role in the early diagnosis of pulmonary diseases. Fractional-order models can characterize complex dynamics with fewer parameters compared to integer-order models, and have been used to represent the medium-frequency characteristics of the respiratory impedance. There have been multiple fractional-order models, but there is no consensus on which model is most reasonable. This paper proposes a novel fractional-order model, which consists of a viscous resistance, an inertia resistance, and an elastic resistance. Unlike existing models, in the proposed model, the inertial resistance is represent with a fractional-order term, while the other two resistances are represent with integer-order terms. The proposed model was employed to represent the medium-frequency respiratory impedance determined by appling impulse oscillometry to 8 healthy subjects. The results in terms of fitting error and determination coefficient indicate that the proposed model fits the data well. Furthermore, when examining the variation of the parameters of the model over time, the results indicate that the parameters are highly correlated with tidal volume. However, the parameters of other existing fractional-order models did not exhibit this correlation. © 2024 IEEE.

关键词： Lung cancer

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Fine-grained cross-view geo-localization using a correlation-aware homography estimator 23

Fine-grained cross-view geo-localization using a correlation...

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Proceedings of the 37th International Conference on Neural Information Processing systems

作者： Xiaolong Wang Runsen Xu Zuofan Cui Zeyu Wan Yu Zhang College of Control Science and Engineering Zhejiang University The Chinese University of Hong Kong College of Control Science and Engineering Zhejiang University and Key Laboratory of Collaborative sensing and autonomous unmanned systems of Zhejiang Province

In this paper, we introduce a novel approach to fine-grained cross-view geo-localization. Our method aligns a warped ground image with a corresponding GPS-tagged satellite image covering the same area using homography estimation. We first employ a differentiable spherical transform, adhering to geometric principles, to accurately align the perspective of the ground image with the satellite map. This transformation effectively places ground and aerial images in the same view and on the same plane, reducing the task to an image alignment problem. To address challenges such as occlusion, small overlapping range, and seasonal variations, we propose a robust correlation-aware homography estimator to align similar parts of the transformed ground image with the satellite image. Our method achieves sub-pixel resolution and meter-level GPS accuracy by mapping the center point of the transformed ground image to the satellite image using a homography matrix and determining the orientation of the ground camera using a point above the central axis. Operating at a speed of 30 FPS, our method outperforms state-of-the-art techniques, reducing the mean metric localization error by 21.3% and 32.4% in same-area and cross-area generalization tasks on the VIGOR benchmark, respectively, and by 34.4% on the KITTI benchmark in same-area evaluation.

关键词：

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Distributed Adaptive Nash Equilibrium Seeking for Multiagent Games Under Time-Varying networks

Distributed Adaptive Nash Equilibrium Seeking for Multiagent...

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Asian control Conference

作者： Xu Duan Tiantian Xu Zhuping Wang Hao Zhang Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai PR China Department of Control Science and Engineering College of Electronic and Information Engineering Tongji University Shanghai PR China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai Shanghai PR China Frontiers Science Center for Intelligent Autonomous System of Ministry of Education PR China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper examines the Nash equilibrium seeking (NES) problem in non-cooperative games involving multiagent systems operating within time-varying networks. The system being studied encompasses unmeasured states and unknown nonlinear functions. To address this, an adaptive NES algorithm is developed using gradient play and a distributed backstepping approach. Additionally, a fuzzy logic system is employed to compensate external disturbance, and an adaptive distributed observer is proposed to share non-neighbor states and facilitate information sharing within the context of a time-varying network. The convergence of the proposed approach is rigorously proven by leveraging the principles of Lyapunov stability theory. The effectiveness of the proposed method is confirmed through a comprehensive analysis of simulation results and physical experiments.

关键词： Fuzzy logic Backstepping Intelligent vehicles Simulation Games Observers Nash equilibrium

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Aerodynamic and aeroacoustic impact of the axial distance upon contra-rotating rotors during hovering condition

Aerodynamic and aeroacoustic impact of the axial distance up...

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AIAA Aviation and Aeronautics Forum and Exposition, AIAA AVIATION Forum 2023

作者： Li, Pengyu Yang, Yannian Zhang, Haoyu Liu, Yu Li, Qingxi Noack, Prof. Bernd Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong Shenzhen518055 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South Guangdong510640 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong Shenzhen518055 China AVIC General Aircraft Research Institute Zhuhai Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong519040 China School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Shenzhen518055 China

ISBN: (数字)9781624107047

ISBN: (纸本)9781624107047

Contra-rotating rotors have the advantage of compactness and redundancy, which can be observed in many unmanned aerial vehicles. One significant installation parameter for the contra-rotating rotors is the axial distance between the upper and lower rotors, which influences both the time-averaged and unsteady loading of the rotors, as well as the aeroacoustic noise emission. Through experimental methods, each rotor is mounted to a six-component balance to study the impact of the axial distance on the two rotors, and an microphone arc-array is used to study the noise emission and directivity in an anechoic chamber. Two rotors are set at the same rotational speed for all axial distance settings. The results indicate that the increase of axial distance is advantageous for the aerodynamic performance increase and noise reduction, especially in the axial range of 0.1 diameter. The recovery of aerodynamic performance is due to the fully developed slipstream which reduces the mutual influence between the two rotors. The noise reduction is mainly due to the reduced velocity fluctuation alleviates the inter actiontonal noise, although the broadband noise becomes larger as the axial distance increases. © 2023, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Noise abatement

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Brain-Conditional Multimodal Synthesis: A Survey and Taxonomy

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第5期6卷 1080-1099页

作者： Mai, Weijian Zhang, Jian Fang, Pengfei Zhang, Zhijun South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Southeast University School of Computer Science and Engineering Nanjing210096 China South China University of Technology Key Library of Autonomous Systems and Network Control Ministry of Education The School of Automation Science and Engineering Guangzhou510640 China Institute for Super Robotics Huangpu Guangzhou510555 China Nanchang University Jiangxi Thousand Talents Plan Nanchang330031 China Jishou University College of Computer Science and Engineering Jishou416000 China Guangdong Artificial Intelligence and Digital Economy Laboratory Pazhou Lab Guangzhou510335 China Shaanxi University of Technology Shaanxi Provincial Key Laboratory of Industrial Automation School of Mechanical Engineering Hanzhong723001 China Changsha Normal University School of Information Science and Engineering Changsha410100 China Guangdong University of Petrochemical Technology School of Automation Science and Engineering Institute of Artificial Intelligence and Automation Maoming525000 China

In the era of artificial intelligence generated content (AIGC), conditional multimodal synthesis technologies (e.g., text-to-image) are dynamically reshaping the natural content. Brain signals, serving as potential reflections of how the brain interprets external information, exhibit a distinctive one-to-many correspondence with various external modalities. This correspondence makes brain signals emerge as a promising guiding condition for multimodal synthesis (e.g., image, text, and audio), which is crucial for developing practical brain–computer interface systems and unraveling complex mechanisms underlying human perception. This survey comprehensively examines the emerging field of brain-conditional multimodal synthesis, termed AIGC-brain, to delineate the current landscape and future directions. To begin, related neuroimaging datasets and generative models are introduced as the foundation of AIGC-brain decoding and analysis. Next, we present a comprehensive taxonomy according to AIGC-brain methodologies, followed by task-specific representative work and implementation details to facilitate in-depth comparison and analysis. Quality assessments are then introduced for both qualitative and quantitative evaluation. Finally, this survey explores insights gained, outlining current challenges and prospects of AIGC-brain. As a pioneering survey, this article paves the way for future advances in AIGC-brain research. © 2020 IEEE.

关键词： Taxonomies

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