In a multi-camera system, based on Binocular vision, choosing the best camera combination is one of the effective ways to improve measurement accuracy. When multi-cameras layout and intrinsic parameters are fixed, the...
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In this article, noncooperative target localization and tracking using multiple autonomous underwater vehicles (AUVs) are investigated. The main goal is to improve the target localization accuracy and tracking perform...
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The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming t...
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In the complex optimization scenarios of real life, we often need to not only weigh the conflicts between multi-objectives but also face the challenges brought by large-scale decision variables. When the scale of deci...
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This paper discusses the uncooperative target tracking control problem for the unmanned aerial vehicle(UAV)under the performance constraint and scaled relative velocity constraint,in which the states of the uncooperat...
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This paper discusses the uncooperative target tracking control problem for the unmanned aerial vehicle(UAV)under the performance constraint and scaled relative velocity constraint,in which the states of the uncooperative target can only be estimated through a vision *** the limited detection range,a prescribed performance function is designed to ensure the transient and steady-state performances of the tracking ***,the scaled relative velocity constraint in the dynamic phase is taken into account,and a time-varying nonlinear transformation is used to solve the constraint problem,which not only overcomes the feasibility condition but also fails to violate the constraint ***,the practically prescribed-time stability technique is incorporated into the controller design procedure to guarantee that all signals within the closed-loop system are *** is proved that the UAV can follow the uncooperative target at the desired relative position within a prescribed time,thereby improving the applicability of the vision-based tracking *** results have been presented to prove the validity of the proposed control strategy.
Formation control is a widely performed task in multi-agent systems. However, agents under formation control are susceptible to attacks, and how to defend against the attack is important for system security. This pape...
Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist...
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Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.
High-level task planning under adversarial environments is one of the central problems in the development of autonomous systems such as unmanned ground vehicles (UGV). Existing works commonly assume that the decision-...
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High-level task planning under adversarial environments is one of the central problems in the development of autonomous systems such as unmanned ground vehicles (UGV). Existing works commonly assume that the decision-maker such as UAV shares the same information with the environment. However, in many scenarios, the UGV, as an integral part of the system, generally has more information than the external adversary. For such a scenario, the decision-maker with more information may achieve better performance by using deceptive strategies. In this paper, we investigate the problem of optimal deceptive strategy synthesis for autonomous systems under asymmetric information between the internal decision-maker and the external adversary. Specifically, we model the dynamic system as a weighted two-player graph game and the objective is to optimize the mean payoff value per task. To capture the asymmetric information between two parties, we assume that the UGV has complete knowledge of the system, whereas the adversary may have misconceptions regarding the task as well as the cost. To synthesize an optimal deceptive strategy, we propose a synthesis algorithm based on hyper-games. The correctness as well as the complexity of the algorithm are analyzed. We illustrate the proposed algorithm by running examples as well as a simulation case study. Finally, we conduct an empirical experiment using real-world scenarios to verify the practical applicability of our algorithm. IEEE
This paper investigates the pricing problem of transportation based on a framework of network congestion game with both player and resource failures. Firstly, the traffic pricing problem is modeled as a network conges...
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High-frequency time-series data such as vibration signals will consume a lot of communication resources and require very high network bandwidth. Reducing the amount of data transmission while ensuring its availability...
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