For aerial swarms, formation flight has been applied in various scenes. However, most existing works do not consider balancing the conflicting requirements among keeping formation, keeping the smoothness of trajectori...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
For aerial swarms, formation flight has been applied in various scenes. However, most existing works do not consider balancing the conflicting requirements among keeping formation, keeping the smoothness of trajectories, and obstacle avoidance within the limited time. To address this issue, we propose a decentralized trajectory planning framework for formation flight in unknown and dense environments. To ensure that feasible trajectories can be found within the limited time, the formation optimization problem is decoupled into formation affine transformation and iterative trajectory generation. Firstly, the optimization problem based on affine transformation is designed to obtain the optimal affine transformation sequence, which provides the formation reference of trajectory optimization. Secondly, the iterative optimization framework of trajectory planning is designed, which balances the conflicting requirements of formation, smooth flight, and obstacle avoidance. Besides, to escape the local minima caused by non-convex dense environments, the method of topological path planning is designed to provide distinctive initial solutions for trajectory optimization. Finally, the proposed methods are proven to be effective through the simulations and real-world experiments.
Different from the traditional model-based fault diagnosis paradigm which is established upon the well-known observer design and analysis, a novel data-driven framework is proposed by combing systems modeling with fau...
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Different from the traditional model-based fault diagnosis paradigm which is established upon the well-known observer design and analysis, a novel data-driven framework is proposed by combing systems modeling with fault detection for a class of 1-D unknown distributed parameter systems. The key idea is to transfer the on-line modeling error into the residual signal for fault detection. The proposed methodology only utilizes the I/O data and does not require extra knowledge of the system model, which increases its usability at large. Numerical simulations on a commonly used benchmark are presented for method validation.
This paper addresses the robust image-based landing control problem for a landing system, including an underactuated quadrotor and an unknown moving platform. Firstly, an image kinematics is constructed by using an im...
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controller Area Network (CAN) protocol is an efficient standard enabling communication among Electronic control Units (ECUs). However, the CAN bus is vulnerable to malicious attacks because of a lack of defense featur...
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In this paper, we propose LF-PGVIO, a visual-Inertial-Odometry (VIO) framework for large Field-of-View (FoV) cameras with a negative plane using points and geodesic segments. The purpose of our research is to unleash ...
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Local features and contextual dependencies are crucial for 3D point cloud analysis. Many works have been devoted to designing better local convolutional kernels that exploit the contextual dependencies. However, curre...
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Deep learning based person re-identification (reid) models have been widely employed in surveillance systems. Recent studies have demonstrated that black-box single-modality and cross-modality re-id models are vulnera...
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In urban construction, transportation system is an important part. However, the pavement cracks will occur because of using in long time and some external force collision, which has impacts on the safety and reliabili...
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Key-point-based scene understanding is fundamental for autonomous driving applications. At the same time, optical flow plays an important role in many vision tasks. However, due to the implicit bias of equal attention...
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Multi-Agent Path Finding is a problem of finding the optimal set of paths for multiple agents from the starting position to the goal without conflict, which is essential to large-scale robotic systems. Imitation and r...
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ISBN:
(纸本)9781665481106
Multi-Agent Path Finding is a problem of finding the optimal set of paths for multiple agents from the starting position to the goal without conflict, which is essential to large-scale robotic systems. Imitation and reinforcement learning are applied to solve the MAPF problem and have achieved certain results, which provides a feasible solution for the path planning problem of large-scale robot systems. The current method improves the performance of distributed strategy-guided agent planning paths in complex environments by introducing the communication between graph neural networks and agents but dramatically reduces the system's robustness. This paper develops a novel imitation reinforcement learning framework by introducing Transformer, which enables algorithms to perform well in complex environments without relying on communication between agents. Compared with its counterparts, experiments show that the policy trained by our method guides the agent to drive from the initial position to the goal without collision and achieve better performance.
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