Lidar and visual data are affected heavily in adverse weather conditions due to sensing mechanisms,which bring potential safety hazards for vehicle *** sensing is desirable to build a more robust navigation *** this p...
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Lidar and visual data are affected heavily in adverse weather conditions due to sensing mechanisms,which bring potential safety hazards for vehicle *** sensing is desirable to build a more robust navigation *** this paper,a cross-modality radar localisation on prior lidar maps is ***,the proposed workflow consists of two parts:first,bird's-eye-view radar images are transferred to fake lidar images by training a generative adversarial network *** with online radar scans,a Monte Carlo localisation framework is built to track the robot pose on lidar *** whole online localisation system only needs a rotating radar sensor and a pre-built global lidar *** the experimental section,the authors conduct an ablation study on image settings and test the proposed system on Oxford Radar Robot Car *** promising results show that the proposed localisation system could track the robot pose successfully,thus demonstrating the feasibility of radar style transfer for metric robot localisation on lidar maps.
Highly intelligent Unmanned Combat Aerial Vehicle(UCAV)formation is expected to bring out strengths in Beyond-Visual-Range(BVR)air *** Multi-Agent Reinforcement Learning(MARL)shows outstanding performance in cooperati...
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Highly intelligent Unmanned Combat Aerial Vehicle(UCAV)formation is expected to bring out strengths in Beyond-Visual-Range(BVR)air *** Multi-Agent Reinforcement Learning(MARL)shows outstanding performance in cooperative decision-making,it is challenging for existing MARL algorithms to quickly converge to an optimal strategy for UCAV formation in BVR air combat where confrontation is complicated and reward is extremely sparse and *** to solve this problem,this paper proposes an Advantage Highlight Multi-Agent Proximal Policy Optimization(AHMAPPO)***,at every step,the AHMAPPO records the degree to which the best formation exceeds the average of formations in parallel environments and carries out additional advantage sampling according to ***,the sampling result is introduced into the updating process of the actor network to improve its optimization ***,the simulation results reveal that compared with some state-of-the-art MARL algorithms,the AHMAPPO can obtain a more excellent strategy utilizing fewer sample episodes in the UCAV formation BVR air combat simulation environment built in this paper,which can reflect the critical features of BVR air *** AHMAPPO can significantly increase the convergence efficiency of the strategy for UCAV formation in BVR air combat,with a maximum increase of 81.5%relative to other algorithms.
This paper presents a longitudinal and lateral coupling control model for platoons on roads with varying curvature. The model integrates a 3-DOF vehicle dynamic model with lateral distance errors using the Frenet coor...
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This paper addresses security problems in cyber-physical systems (CPSs). A multi-objective optimal stealthy attack strategy is designed to disrupt the estimation process and degrade the stabilizing performance of the ...
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Lakes areas,which cause catastrophic damages in both commercial fishery and ecological ***,current assessment strategies may pose challenges for lake-wide abundance estimation and non-target anadromous species ***,we ...
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Lakes areas,which cause catastrophic damages in both commercial fishery and ecological ***,current assessment strategies may pose challenges for lake-wide abundance estimation and non-target anadromous species ***,we demonstrate an efficacious species-specific non-destructive sensing system based on porous ferroelectret nanogenerator for in-situ monitoring of lamprey spawning migration using their unique suction *** show that the porous structure enables a redistribution of surface charges under bidirectional deformations,which allows the detection of both positive and negative *** quasi-piezoelectric effect is further validated by quantitative analysis in a wide pressure range of−50 to 60 kPa,providing detailed insights into transduction working *** reliable lamprey detection,a 4×4-pixel sensor array is developed and integrated with a complementary metal-oxide-semiconductor(CMOS)based signal processing array thus constituting a sensing panel capable of recording oral suction patterns in an underwater environment.
The proper fault-tolerant control (FTC) is a key issue to extend the lifetime of proton exchange membrane fuel cells (PEMFCs). This article proposes an FTC algorithm to realize performance recovery under flooding. A w...
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This paper focuses on the optimal output synchronization control problem of heterogeneous multiagent systems(HMASs) subject to nonidentical communication delays by a reinforcement learning *** with existing studies as...
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This paper focuses on the optimal output synchronization control problem of heterogeneous multiagent systems(HMASs) subject to nonidentical communication delays by a reinforcement learning *** with existing studies assuming that the precise model of the leader is globally or distributively accessible to all or some of the followers, the leader's precise dynamical model is entirely inaccessible to all the followers in this paper. A data-based learning algorithm is first proposed to reconstruct the leader's unknown system matrix online. A distributed predictor subject to communication delays is further devised to estimate the leader's state, where interaction delays are allowed to be nonidentical. Then, a learning-based local controller, together with a discounted performance function, is projected to reach the optimal output synchronization. Bellman equations and game algebraic Riccati equations are constructed to learn the optimal solution by developing a model-based reinforcement learning(RL) algorithm online without solving regulator equations, which is followed by a model-free off-policy RL algorithm to relax the requirement of all agents' dynamics faced by the model-based RL algorithm. The optimal tracking control of HMASs subject to unknown leader dynamics and communication delays is shown to be solvable under the proposed RL algorithms. Finally, the effectiveness of theoretical analysis is verified by numerical simulations.
The Stackelberg game depicts a leader-follower relationship wherein decisions are made sequentially, and the Stackelberg equilibrium represents an expected optimal solution when the leader can anticipate the rational ...
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The Stackelberg game depicts a leader-follower relationship wherein decisions are made sequentially, and the Stackelberg equilibrium represents an expected optimal solution when the leader can anticipate the rational response of the follower. Motivated by control of network systems with two levels of decision-making hierarchy, such as the management of energy networks and power coordination at cellular networks, a networked multi-leader multi-follower Stackelberg game is proposed. Due to the constraint of limited information interaction among players, a clustered information structure is assumed that each leader can only communicate with a portion of overall followers, namely its direct subordinated followers, and also only with its local neighboring leaders. In this case, the leaders cannot fully anticipate the collective rational response of all followers with local information. To address Stackelberg equilibrium seeking under this partial information structure, we propose a distributed seeking algorithm based on implicit gradient estimation and network consensus mechanisms. We rigorously prove the convergence of the algorithm for both diminishing and constant step sizes under strict and strong monotonicity conditions, respectively. Furthermore, the model and the algorithm can also incorporate linear equality and inequality constraints into the followers' optimization problems, with the approach of the interior point barrier function. Finally, we present numerical simulations in applications to corroborate our claims on the proposed framework. IEEE
Occlusions significantly impact the safety of autonomous vehicles. Intersections with multiple occlusions and multiple observed vehicles are common in urban scenarios. This paper proposes a solution for occlusion infe...
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Occlusions significantly impact the safety of autonomous vehicles. Intersections with multiple occlusions and multiple observed vehicles are common in urban scenarios. This paper proposes a solution for occlusion inference and planning in the above scenarios. This framework introduces a novel model of potential traffic, enabling a unified representation of uncertainty. The occlusion inference is based on the inverse planning. It uses behaviors of social vehicles to infer the potential traffic. When there are more than one social vehicles, evidence theory is used to fuse the inferences from multiple sources. Simulations are conducted in different intersection scenarios, demonstrating the improvement of traveling efficiency. IEEE
Furanocoumarins in citrus fruit can cause adverse drug interactions;however,there are few reports on furanocoumarins and drug interactions in common edible citrus cultivars except *** ultra-performance liquid chromato...
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Furanocoumarins in citrus fruit can cause adverse drug interactions;however,there are few reports on furanocoumarins and drug interactions in common edible citrus cultivars except *** ultra-performance liquid chromatography(UPLC)-based method for ten furanocoumarins in citrus fruit was established,and the effects on cytochrome P450 activity were *** were more abundant(2-43 times)in the peel than in the *** pulp of Xiyou,Hongyou,and Navel orange exhibited P450 inhibition,with 50% maximal inhibitory concentration(ICso)values of 0.63,0.67,and 1.02 mg/mL,*** peel of all the varieties except Huyou and Satsuma exhibited P450 ***,Baiyou,Huangjinyou,Hongyou,Ponkan,and Navel orange had IC_(50)values of 0.33,0.76,0.38,0.35,0.43,and 0.37 mg/mL,*** findings indicate that,except for Xiyou,Hongyou,and Navel orange,the consumption of the pulp of popular Chinese varieties of citrus fruit has a low risk of drug interactions,and the use of citrus products including peel may carry a significant risk of adverse drug interactions.
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