Millimeter-wave (mmWave) radar has attracted significant attention in robotics and autonomous driving. However, despite the perception stability in harsh environments, the point cloud generated by mmWave radar is rela...
详细信息
In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at prese...
详细信息
Recent advancements in video semantic segmentation have made substantial progress by exploiting temporal correlations. Nevertheless, persistent challenges, including redundant computation and the reliability of the fe...
详细信息
This article proposes an algorithm designed for autonomous quadrotors to capture target quadrotors in complex obstacle environments, enabling multiple pursuers to perform distributed capture while simultaneously avoid...
详细信息
ISBN:
(数字)9798331533892
ISBN:
(纸本)9798331533908
This article proposes an algorithm designed for autonomous quadrotors to capture target quadrotors in complex obstacle environments, enabling multiple pursuers to perform distributed capture while simultaneously avoiding obstacles and collisions. We first introduce a 3D obstacle space representation method based on safety-priority reachable region (SPRR) and implement real-time construction for general point cloud maps. Subsequently, leveraging SPRR, we employ an area minimization approach to ensure the effective capture of the evader within a limited time. The outcomes are then integrated into a MINCO-based trajectory planning framework to ensure their practical execution by real quadrotors. Relying on SPRR, the optimization problem is simplified and the solution efficiency is improved. In the scenario of simulating the dynamics of real quadrotors, we compare the proposed algorithm with state-of-the-art evasion and pursuit methods, validating its effectiveness and advancements. This work presents a practical solution for multi-quadrotor collaborative capture.
This paper presents a trajectory tracking algorithm designed for autonomous quadrotors to navigate complex dy-namic environments that is resilient to collision disturbances. Since it combines Model Predictive Contouri...
详细信息
ISBN:
(数字)9798331533892
ISBN:
(纸本)9798331533908
This paper presents a trajectory tracking algorithm designed for autonomous quadrotors to navigate complex dy-namic environments that is resilient to collision disturbances. Since it combines Model Predictive Contouring Control (MPCC) with the capabilities of neural networks, our method is named MPCC Integrated with Neural Augmentation (MINA). By equip-ping the quadrotor with PVDF piezoelectric sensors, we achieve real-time perception of collision forces and utilize S4D-Conv Adaptive Net Architecture (SANA) for state computation, a network that integrates the advantages of S4D and convolutional kernels to enhance the accuracy of state predictions. We incorporate the predicted results into the MPCC framework to optimize the thrust output of the quadrotor for the next time step, ensuring precise trajectory tracking. Experimental validation demonstrates the reliability and effectiveness of our algorithm, providing an innovative solution for autonomous flight and trajectory tracking of quadrotors in complex dynamic environments.
In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at prese...
详细信息
ISBN:
(数字)9781665410205
ISBN:
(纸本)9781665410212
In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique.
暂无评论