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arXiv 2024年

作者： Lyu, Xiaoxu Wen, Guanghui Shi, Ling Duan, Peihu Duan, Zhisheng The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong The Laboratory of Security Operation and Control for Intelligent Autonomous Systems Department of Systems Science School of Mathematics Southeast University Nanjing211189 China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China

This paper systematically investigates the performance of consensus-based distributed filtering under mismatched noise covariances. First, we introduce three performance evaluation indices for such filtering problems, namely the standard performance evaluation index, the nominal performance evaluation index, and the estimation error covariance. We derive difference expressions among these indices and establish one-step relations among them under various mismatched noise covariance scenarios. We particularly reveal the effect of the consensus fusion on these relations. Furthermore, the recursive relations are introduced by extending the results of the one-step relations. Subsequently, we demonstrate the convergence of these indices under the collective observability condition, and show this convergence condition of the nominal performance evaluation index can guarantee the convergence of the estimation error covariance. Additionally, we prove that the estimation error covariance of the consensus-based distributed filter under mismatched noise covariances can be bounded by the Frobenius norms of the noise covariance deviations and the trace of the nominal performance evaluation index. Finally, the effectiveness of the theoretical results is verified by numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Wiener filtering

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A Resource-Saving Multi-layer Fault-Tolerant Low Orbit Satellite Network 7th

A Resource-Saving Multi-layer Fault-Tolerant Low Orbit Satel...

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7th International Conference on Artificial Intelligence and Security, ICAIS 2021

作者： Zhang, Tianjiao Chen, Fang Sun, Yan Guo, Chao Department of Electronics and Communication Engineering Beijing Electronic Science and Technology Institute Beijing100070 China China Industrial Control Systems Cyber Emergency Response Team Beijing100070 China

ISBN: (纸本)9783030786083

Low-orbit satellites have the advantages of low latency, low cost, and flexible launching. They are the main direction for the development of next-generation satellite communications. Based on the STK analysis and simulation of the existing low-orbit satellite constellations, this article found that most of the current polar orbiting constellations can be seen at the same time near the equator, and the inclined orbits cannot cover the earth’s poles. Therefore, a constellation with a polar orbit and an inclined orbit is designed to achieve global coverage under the conditions of reasonable number and cost of satellites and more optimized coverage performance. Lay the foundation for the network design of the future LEO satellite constellation. © 2021, Springer Nature Switzerland AG.

关键词： Orbits

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Manipulating the Posterior Support of a Discrete Bayesian Estimator Under Full Sensor control

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IFAC-PapersOnLine 2023年第2期56卷 252-257页

作者： Daniel Selvaratnam Farhad Farokhi Iman Shames Henrik Sandberg Decision and Control Systems School of Electrical Engineering & Computer Science KTH Royal Institute of Technology 114 28 Stockholm Sweden Department of Electrical and Electronic Engineering The University of Melbourne Parkville VIC 3010 Australia College of Engineering & Computer Science Australian National University Canberra ACT 2601 Australia

The asymptotic implausibility problem is introduced from the perspective of an adversary that seeks to drive the belief of a recursive Bayesian estimator away from a particular set of parameter values. It is assumed that the adversary controls all sensors informing the estimator, and can transmit false measurements stochastically according to a fixed distribution of its choice. First, we outline a method for verifying whether a given distribution solves the problem. We then consider the class of spoofing attacks, and show that the asymptotic implausibility problem has a solution if and only if it can be solved by a spoofing attack. Attention is restricted to finite parameter and observation spaces.

关键词： Network Security Bayesian Estimation Cyber-Physical systems Network systems Resilient control systems Signal Processing

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Data-driven Optimal Cooperative Output Regulation of Unknown Linear Discrete-time Multi-agent systems

Data-driven Optimal Cooperative Output Regulation of Unknown...

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Chinese control and Decision Conference, CCDC

作者： Dong Liang Yi Dong Chaoli Wang Engang Tian Department of Control Science and Engineering School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai China College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China

The cooperative output regulation problem has been extensively studied on the basis of the distributed observer approach. However, the majority of the existing research assumes that the dynamics is known previously. To remove this condition, the cooperative output regulation problem is further solved via the data-driven framework where the dynamics of the plant is unknown. First, a data-driven distributed observer is established to estimate the state of the leader with unknown dynamics subject to external inputs. Second, the unknown regulator equations are solved using the iterative recurrent neural network approach. Third, the state-based data-driven distributed control law is synthesized to solve the problem. The optimal gains are derived by solving convex optimization problems using input and state data. Finally, a numerical example is presented to verify the feasibility of the proposed framework.

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Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios

arXiv

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arXiv 2023年

作者： Gao, Yuman Ji, Jialin Wang, Qianhao Jin, Rui Lin, Yi Shang, Zhimeng Cao, Yanjun Shen, Shaojie Xu, Chao Gao, Fei Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China The Huzhou Institute Zhejiang University Huzhou313000 China DJI Technology Co. Shenzhen510810 China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong

Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with a steady relative state and reliable perception is a prerequisite. This paper presents an adaptive dynamic tracking and perching scheme for autonomous quadrotors to achieve tight integration with moving platforms. For reliable perception of dynamic targets, we introduce elastic visibility-aware planning to actively avoid occlusion and target loss. Additionally, we propose a flexible terminal adjustment method that adapts the changes in flight duration and the coupled terminal states, ensuring full-state synchronization with the time-varying perching surface at various angles. A relaxation strategy is developed by optimizing the tangential relative speed to address the dynamics and safety violations brought by hard boundary conditions. Moreover, we take SE(3) motion planning into account to ensure no collision between the quadrotor and the platform until the contact moment. Furthermore, we propose an efficient spatiotemporal trajectory optimization framework considering full state dynamics for tracking and perching. The proposed method is extensively tested through benchmark comparisons and ablation studies. To facilitate the application of academic research to industry and to validate the efficiency of our scheme under strictly limited computational resources, we deploy our system on a commercial drone (DJI-MAVIC3) with a full-size sport-utility vehicle (SUV). We conduct extensive real-world experiments, where the drone successfully tracks and perches at 30 km/h (8.3 m/s) on the top of the SUV, and at 3.5 m/s with 60° inclined into the trunk of the SUV. © 2023, CC BY-NC-ND.

关键词： Motion planning

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Research on Business Travel Problem Based on Simulated Annealing and Tabu Search Algorithms 7th

Research on Business Travel Problem Based on Simulated Annea...

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7th International Conference on Artificial Intelligence and Security, ICAIS 2021

作者： Chen, Jianan Chen, Fang Guo, Chao Sun, Yan Department of Electronics and Communication Engineering Beijing Electronic Science and Technology Institute Beijing100070 China China Industrial Control Systems Cyber Emergency Response Team Beijing100070 China

ISBN: (纸本)9783030786083

In logistics and transportation, it is usually necessary to take into account the distance, route, time, transportation cost, and human resources. In this paper, the coordinates of 31 cities are used as data storage, and the three parts of an ordinary distance, travel time, and high-speed cost between the two places are added with target weights to obtain the minimum comprehensive cost. In this paper, the shortest path at the core of the TSP is transformed into the minimum comprehensive cost, and each cost in transportation is weighted in proportion to the target. On the premise of finding the shortest path, to solve the logistics transportation planning problem in the business travel problem, it will simply find the minimum path Single objective function optimization is to add objective weights to achieve the objective function with the smallest comprehensive cost and optimize the algorithm. While comprehensively considering cost and time, it avoids the inoperability caused by the linear distance between two points, reduces logistics transportation costs, improves logistics timeliness, and improves customer satisfaction. © 2021, Springer Nature Switzerland AG.

关键词： Simulated annealing

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Global solution to sensor network localization: A non-convex potential game approach and its distributed implementation

arXiv

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arXiv 2024年

作者： Xu, Gehui Chen, Guanpu Hong, Yiguang Fidan, Baris Parisini, Thomas Johansson, Karl H. Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures StockholmSE-10044 Sweden Department of Control Science and Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China The Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The Department of Engineering and Architecture University of Trieste Trieste34127 Italy

Consider a sensor network consisting of both anchor and non-anchor nodes. We address the following sensor network localization (SNL) problem: given the physical locations of anchor nodes and relative measurements among all nodes, determine the locations of all non-anchor nodes. The solution to the SNL problem is challenging due to its inherent non-convexity. In this paper, the problem takes on the form of a multi-player nonconvex potential game in which canonical duality theory is used to define a complementary dual potential function. After showing the Nash equilibrium (NE) correspondent to the SNL solution, we provide a necessary and sufficient condition for a stationary point to coincide with the NE. An algorithm is proposed_ to reach the NE and shown to have convergence rate O(1/√k). With the aim of reducing the information exchange within a network, a distributed algorithm for NE seeking is implemented and its global convergence analysis is provided. Extensive simulations show the validity and effectiveness of the proposed approach to solve the SNL problem. Copyright © 2024, The Authors. All rights reserved.

关键词： Game theory

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Urban Digital Twins for Intelligent Road Inspection

Urban Digital Twins for Intelligent Road Inspection

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2022 IEEE International Conference on Big Data, Big Data 2022

作者： Fan, Rui Zhang, Yikang Guo, Sicen Li, Jiahang Feng, Yi Su, Shuai Zhang, Yanting Wang, Wenshuo Jiang, Yu Junaid Bocus, Mohammud Zhu, Xingyi Chen, Qijun Department of Control Science & Engineering Frontiers Science Center for Intelligent Autonomous Systems State Key Laboratory of Intelligent Autonomous Systems Shanghai201804 China Donghua University Department of Computer Science & Technology Shanghai201620 China McGill University Department of Civil Engineering MontrealH3A 0C3 Canada Cto Office at ClearMotion BillericaMA01821 United States University of Bristol Department of Electrical & Electronic Engineering BristolBS8 1UB United Kingdom Tongji University Key Laboratory of Road and Traffic Engineering Ministry of Education Shanghai200092 China

ISBN: (纸本)9781665480451

Urban digital twin (UDT) technologies offer new opportunities for intelligent road inspection (IRI). This paper first reviews the state-of-the-art algorithms used in the two key components of UDT-based IRI systems: (1) multi-temporal, multi-dimension, multi-score, and heterogeneous road data acquisition, and (2) road distress detection. This paper then summarizes the UDTIRI competition, organized in conjunction with IEEE Bigdata 2022. More details on our competition are available at ***/view/udtiri-workshop/bigdata-2022. © 2022 IEEE.

关键词： Data acquisition

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Evaluation of the Safety Shell Architecture for Automated Driving in a Realistic Simulator

Evaluation of the Safety Shell Architecture for Automated Dr...

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IEEE Symposium on Intelligent Vehicle

作者： C.A.J. Hanselaar Y. Fu A. Terechko J. Seemann T. Beurskens E. Silvas W.P.M.H Heemels Department of Mechanical Engineering Control Systems Technology Section Eindhoven University of Technology NXP Semiconductors N.V Eindhoven The Netherlands Former NXP Semiconductors N.V. Employee TNO Dutch Organization for Applied Scientific Research Integrated Vehicle Safety Helmond The Netherlands

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

The transition from advanced driver assistance systems to highly automated vehicles proves to be difficult, as the driver is no longer a safety fallback for the latter systems. One of the main challenges is formed by edge cases in the encountered driving scenarios that trigger functional insufficiencies in automated driving (AD) systems. Functional insufficiencies, for the sake of understanding, may be viewed as an inappropriate understanding of or response to a scenario in an AD system, which in turn causes dangerous vehicle behavior. Prior research suggests that using an architecture capable of including redundant heterogeneous AD systems as separate channels, such as the Safety Shell, can mitigate some of these functional insufficiencies. However, this benefit has only been evaluated in limited and deterministic simulation environments. To overcome this, our objectives in this paper are to (i) develop an experimental method for extensive testing of such architectures, and (ii) to assess the suitability of the Safety Shell architecture to handle edge cases with this new method. Using the developed experimental setup we observe a significant safety and availability increase of the Safety Shell compared to the included individual AD channels in the tested scenarios. Finally, our study provides insight into the requirements for the evaluated AD channels.

关键词： Actuators Intelligent vehicles Switches Safety Object recognition Advanced driver assistance systems Testing

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Automated Dilated Spatio-Temporal Synchronous Graph Modeling for traffic Prediction

arXiv

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arXiv 2022年

作者： Jin, Guangyin Li, Fuxian Zhang, Jinlei Wang, Mudan Huang, Jincai Department of Electronic Engineering Tsinghua University Beijing100084 China College of Systems Engineering National University of Defense Technology Changsha China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China

Accurate traffic prediction is a challenging task in intelligent transportation systems because of the complex spatiotemporal dependencies in transportation networks. Many existing works utilize sophisticated temporal modeling approaches to incorporate with graph convolution networks (GCNs) for capturing short-term and long-term spatio-temporal dependencies. However, these separated modules with complicated designs could restrict effectiveness and efficiency of spatio-temporal representation learning. Furthermore, most previous works adopt the fixed graph construction methods to characterize the global spatio-temporal relations, which limits the learning capability of the model for different time periods and even different data scenarios. To overcome these limitations, we propose an automated dilated spatio-temporal synchronous graph network, named Auto-DSTSGN for traffic prediction. Specifically, we design an automated dilated spatio-temporal synchronous graph (Auto-DSTSG) module to capture the short-term and long-term spatio-temporal correlations by stacking deeper layers with dilation factors in an increasing order. Further, we propose a graph structure search approach to automatically construct the spatio-temporal synchronous graph that can adapt to different data scenarios. Extensive experiments on four real-world datasets demonstrate that our model can achieve about 10% improvements compared with the state-of-art methods. Source codes are available at https://***/jinguangyin/Auto-DSTSGN. © 2022, CC BY.

关键词： Graph neural networks

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