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2020 3rd International Conference on Unmanned Systems (ICUS)最新文献

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Near-Optimal Consensus of Multi-Dimensional Double-Integrator Multi-Agent Systems 多维双积分器多智能体系统的近最优一致性
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274969
Yinyan Zhang
{"title":"Near-Optimal Consensus of Multi-Dimensional Double-Integrator Multi-Agent Systems","authors":"Yinyan Zhang","doi":"10.1109/ICUS50048.2020.9274969","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274969","url":null,"abstract":"In this paper, a distributed near-optimal method is presented for the consensus of multi-agent systems with multiple multi-dimensional double integrators. The method is developed based on the performance index regarding the consensus behavior with respect to the agent state differences and the control efforts of the agents. By using the Taylor expansion method, an analytical distributed near-optimal controller is presented for solving the optimal consensus problem. A simulative example is presented to demonstrate the performance of the method.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127960350","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Mixed-initiative Manned-unmanned Teamwork Using Coactive Design and Graph Neural Network 基于协同设计和图神经网络的混合主动载人-无人协同工作
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274913
Zhichao Wang, Chang Wang, Yifeng Niu
{"title":"Mixed-initiative Manned-unmanned Teamwork Using Coactive Design and Graph Neural Network","authors":"Zhichao Wang, Chang Wang, Yifeng Niu","doi":"10.1109/ICUS50048.2020.9274913","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274913","url":null,"abstract":"Mixed-initiative decision making is a flexible and effective way for coherent manned-unmanned teamwork (MUT). It allows the autonomous adjustment of levels of autonomy (LOA) and the human-robot collaboration modes according to the task requirements as well as the states of environments, robots and the human operator. However, it is still difficult for humans and robots to understand each other's intentions and motivations due to the challenges of cognition representation and behavior reasoning. In this paper, we propose a novel mixed-initiative MUT approach using coactive design and graph neural networks (GNN) towards explainable human-robot collaboration. First, an interdependence analysis table is designed for a specific manned-unmanned aerial vehicle task following the coactive design principles of observability, predictability and directablity. Then, a multi-agent dynamic task assignment system is designed based on a task model with key decision-making points. Finally, we have used the Graph Network Library to design a GNN model for adjusting the LOA among the MAV and UAVs in the given task.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115860172","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
An Approach to Coordinated Control of Structured Unmanned Swarm based on Evolutionary Game 基于进化博弈的结构化无人群体协调控制方法
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9275030
Minggang Yu, Ming He, Dongge Zhang, Ling Luo, Jintao Liu, Legui Zhang
{"title":"An Approach to Coordinated Control of Structured Unmanned Swarm based on Evolutionary Game","authors":"Minggang Yu, Ming He, Dongge Zhang, Ling Luo, Jintao Liu, Legui Zhang","doi":"10.1109/ICUS50048.2020.9275030","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9275030","url":null,"abstract":"To solve the problem of autonomous collaboration of unmanned cluster in military operations, an approach to coordinated control of structured unmanned swarm based on evolutionary game is proposed. It starts with the requirement analysis of task collaboration in unmanned cluster; and the collaboration model based on evolutionary game theory is established; Then the evolutionary dynamics and equilibrium is constructed by theoretical derivation, furthermore, the formation conditions of autonomous collaboration is obtained; Finally the strategy evolution process of swarm on regular lattice and general topology is simulated via case study, which proves the rationality and feasibility of the proposed model and method. The conclusion of this paper provides a preliminary and meaningful exploration for the transformation from theories to practical applications.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131640748","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Reinforcement Learning Based Spacecraft Autonomous Evasive Maneuvers Method Against Multi-interceptors 基于强化学习的多截击机航天器自主规避机动方法
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274873
Yu Zhao, Ding Zhou, Chengchao Bai, Hongxing Zheng, Jifeng Guo
{"title":"Reinforcement Learning Based Spacecraft Autonomous Evasive Maneuvers Method Against Multi-interceptors","authors":"Yu Zhao, Ding Zhou, Chengchao Bai, Hongxing Zheng, Jifeng Guo","doi":"10.1109/ICUS50048.2020.9274873","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274873","url":null,"abstract":"This paper proposed an autonomous intelligent decision-making method, which can be used to evade the attack of multi-interceptors. A self-learning model based on MADDPG algorithm is established with four engines of a spacecraft as multi-agent system. The model takes the relative distance and the total maneuvering time as variables to design the evaluation function. A simulation environment is constructed with four interceptors intercepting a spacecraft at the same time. The autonomous evasion impulse maneuvers of the spacecraft are realized by training. Compared with the random evasion maneuvers method, this autonomous maneuvers method improves the success probability of escape by nearly 30%. This research provides a valuable theoretical method for modern space operations.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132946675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on Aerodynamic Characteristics of Non-circular Cross-section Missile Based on Fluent 基于Fluent的非圆截面导弹气动特性研究
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274963
W. Xuan, L. Yongjun
{"title":"Research on Aerodynamic Characteristics of Non-circular Cross-section Missile Based on Fluent","authors":"W. Xuan, L. Yongjun","doi":"10.1109/ICUS50048.2020.9274963","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274963","url":null,"abstract":"Based on the Fluent program software, the aerodynamic characteristics of a certain type of non-circular cross-section missile under different guidance angles, different sideslip angles, and different flying Mach numbers under combined guidance and simple guidance are simulated and calculated. The lift coefficient, drag coefficient and lateral force coefficient of this type of missile body vary with the flying Mach number, angle of attack and sideslip angle, as well as the pressure distribution and flow velocity distribution on the surface of the body. The calculated aerodynamic load parameters can be It provides basis and reference for the shape design of the missile with non-circular cross-section combined missile.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132982150","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design of a flexible drive circuit for piezoelectric actuators 压电驱动器柔性驱动电路的设计
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274826
W. Jiahao, Z. Weiping, Zhao Jiaxin, Yin Junjie, Wang Chenyang
{"title":"Design of a flexible drive circuit for piezoelectric actuators","authors":"W. Jiahao, Z. Weiping, Zhao Jiaxin, Yin Junjie, Wang Chenyang","doi":"10.1109/ICUS50048.2020.9274826","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274826","url":null,"abstract":"Piezoelectric actuators have a broader prospect than conventional actuators (such as DC motors) in the field of micro robot drive due to its high efficiency and high power density. However, considering the electric design, there are two main challenges of the piezoelectric actuators for the microrobot applications: generating high voltage from low-voltage power supplies and recovering unused energy from piezoelectric actuators. It is difficult for traditional drive circuits to solve these problems under the premise of miniaturization. In this paper, a highly efficient piezoelectric actuator drive circuit topology is proposed to satisfy the mass and power requirements. Meanwhile, we present the electrical characteristics and drive requirements of piezoelectric actuators, the design and optimization of the drive circuit topology, the appropriate control methods of the drive circuit, and the manufacturing method of the flexible circuit.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115543751","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Depth Estimation for Small Obstacles Based on Monocular Vision 基于单目视觉的小障碍物深度估计
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274817
W. Gao, Changqing Wang, Leiyuan Li
{"title":"Depth Estimation for Small Obstacles Based on Monocular Vision","authors":"W. Gao, Changqing Wang, Leiyuan Li","doi":"10.1109/ICUS50048.2020.9274817","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274817","url":null,"abstract":"In order to solve the problem of small obstacles avoidance in ultra-low altitude flying of unmanned aerial vehicles (UAVs), a depth estimation algorithm based on monocular visual for small tower obstacles is proposed by combining deep learning and traditional methods. With the advantage of convolutional neural networks to extract the salient features of the images, a lightweight and multi-level residual convolution neural network for obstacle segmentation is proposed. The cross-entropy loss function is optimized by adding the weight of the background and obstacles area. A method based on pairs of coplanar points is introduced to complete the depth estimation of a single frame image. Moreover, the recursive formula of sequence images depth results is derived, and a multi-frame voting optimization algorithm is proposed. Finally, the simulation results show that the proposed algorithm can effectively realize the fast segmentation and accurate depth estimation of the small tower obstacles in the sequence images.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115637517","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A System Method for DOA Estimation by optimizing the Layout of Array Antenna on Complex Platform 复杂平台上阵列天线优化布局估计方位的系统方法
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/icus50048.2020.9274822
Jirong Zhou, Min Xiang, Hongbin Wang, Xiyang Deng, Huanxiao Li
{"title":"A System Method for DOA Estimation by optimizing the Layout of Array Antenna on Complex Platform","authors":"Jirong Zhou, Min Xiang, Hongbin Wang, Xiyang Deng, Huanxiao Li","doi":"10.1109/icus50048.2020.9274822","DOIUrl":"https://doi.org/10.1109/icus50048.2020.9274822","url":null,"abstract":"This paper presents a systematic optimization approach for the position of array elements on a complex platform to reach the best direction of arrival (DOA) estimation performance. Due to the effect of the platform, antenna elements on different positions show different element patterns, so the active element pattern mode is considered. The proposed method combines the full wave simulation, multiple signal classification (MUSIC) algorithm and the particle swarm optimization (PSO). Real platform is taken into account, and a set of representative numerical experiments shows the effectiveness of this method.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114956550","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
A Novel Logical Query Representation Learning Model on Knowledge Graph for Interpretable Knowledge Reasoning 面向可解释知识推理的知识图逻辑查询表示学习模型
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274950
Yashen Wang, Huanhuan Zhang
{"title":"A Novel Logical Query Representation Learning Model on Knowledge Graph for Interpretable Knowledge Reasoning","authors":"Yashen Wang, Huanhuan Zhang","doi":"10.1109/ICUS50048.2020.9274950","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274950","url":null,"abstract":"Towards interpretable knowledge reasoning task, this paper aims at understanding the logical form of the given query, which is formulated as the first-order logical rule. Then this paper proposes a novel representation learning model for Interpretable Knowledge Reasoning (IKR), which consists of two procedures: Firstly, all the elements (including entities, relations and query) are embedded into the unified semantic spaces; Secondly, semantic similarity is utilized for measure the relevance between the given query and candidate entities, and then the answer entity set is generated. Experimental results on multi-type tasks demonstrate that our work is experimentally applicable for the first-logic rules with more complex length.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115991462","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on the Factors Influencing the Phase Stability of the Longitudinal Channel of the Elastic Hypersonic Vehicle 弹性高超声速飞行器纵向通道相位稳定性影响因素研究
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/icus50048.2020.9274956
Yao De-qing, Wei Yi-yin, Cui Nai-gang
{"title":"Research on the Factors Influencing the Phase Stability of the Longitudinal Channel of the Elastic Hypersonic Vehicle","authors":"Yao De-qing, Wei Yi-yin, Cui Nai-gang","doi":"10.1109/icus50048.2020.9274956","DOIUrl":"https://doi.org/10.1109/icus50048.2020.9274956","url":null,"abstract":"With the gradual development of technology, the design concept of slender body and light weight makes the rigidity of the elastic hypersonic vehicle reduce and the flexibility increase, and the elastic bending mode frequency gradually approaches the shear frequency of the control system, which will reduce the stability margin of the system, and when the vehicle is statically unstable, then the aeroelastic coupling problem becomes particularly serious. In this paper, the longitudinal channel of the elastic hypersonic vehicle is taken as an example to explore the factors that affect the phase stability of the system.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"1079 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116027799","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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