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2019 3rd International Symposium on Autonomous Systems (ISAS)最新文献

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Behavior-based Genetic Fuzzy Control System for Multiple USVs Cooperative Target Protection 基于行为的多usv协同目标保护遗传模糊控制系统
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757732
Sulemana Nantogma, Weizhi Ran, Xu Yang, H. Xiaoqin
{"title":"Behavior-based Genetic Fuzzy Control System for Multiple USVs Cooperative Target Protection","authors":"Sulemana Nantogma, Weizhi Ran, Xu Yang, H. Xiaoqin","doi":"10.1109/ISASS.2019.8757732","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757732","url":null,"abstract":"In this paper, the intelligent cooperative control problem of unmanned surface vehicles (USVs) is investigated. We consider a team of USVs used in the protection of a target against potential threats. The task of the USVs is to cooperatively protect the target from being destroyed. A behavior-based fuzzy logic control system is presented to solve the problem. First, we identify two types of behaviors; low and high level behaviors. High level behaviors act as a mechanism to induced coordination and synchronization among USVs. Based on this, four high level behaviors (behavior integrator, intercept, formation and assist behaviors), each implementing a fuzzy inference system and two low level behaviors(collision avoidance and attack behaviors) are proposed. The paper defines behavior-based rules to meet the requirement of a simple operational scenario. Genetic algorithms is used to learn the rule base and the choice of behavior. Simulation results demonstrates the effectiveness of our approach. Results shows that the approach has potential application for a real team of cooperative USVs.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123444578","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: 13
Online Chinese Handwriting Recognition with Time Sequence Information 基于时间序列信息的在线中文手写识别
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757774
Zeyu Wang, Yue Gao, Jinshi Yao, Tao Li
{"title":"Online Chinese Handwriting Recognition with Time Sequence Information","authors":"Zeyu Wang, Yue Gao, Jinshi Yao, Tao Li","doi":"10.1109/ISASS.2019.8757774","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757774","url":null,"abstract":"Handwriting recognition has been a heated topic over years. Due to the development of deep learning, a lot of research has been done to apply convolutional neural network (CNN) model to this task, which have achieved outstanding accuracy. Instead of focusing merely on CNN models, this article takes the features of Chinese handwritten character into consideration and manages to extract the information of the stroke order of the online handwriting recognition. To achieve this, two methods are proposed: (1) Design a two-branch model combining CNN and recurrent neural network (RNN);(2) Give a new channel division strategy. Also, the task of advanced prediction of the character which little research has been worked on is the key point. With the information of stroke order and some data augmentation strategy, methods proposed have achieved satisfying results.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130252824","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
The Evolution of Submissive Clusters in the Spatial Snowdrift Game 空间雪堆博弈中服从集群的演化
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757784
Qian Zhao, Chuyi Guo, Zhihai Rong
{"title":"The Evolution of Submissive Clusters in the Spatial Snowdrift Game","authors":"Qian Zhao, Chuyi Guo, Zhihai Rong","doi":"10.1109/ISASS.2019.8757784","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757784","url":null,"abstract":"The zero-determinant strategies can make an individual unilaterally enforce a linear relationship with her and coplayer’s payoffs. Traditionally, researchers focus on the evolution of zero-determinant strategies based on the Prisoner’s dilemma game. In this paper, in terms to the famous snowdrift game, we investigate the zero-determinant strategies in the regular graph. The spatial structure can hinder the spread of cooperative strategy in snowdrift game. The submissive strategy is a subset of zero-determinant strategies, which can provide less benefit to defectors than that of cooperative strategy. We find that the spatial structure can promote the emergence of submissive strategy although the payoff relationship between submissive strategy and defective strategy is also snowdrift-like. Moreover, from the perspective of formation pattern, we analyze the underlying mechanism about the evolution of zero-determinant strategies in the regular graph, which may provide some clues to understand cooperative dynamics and design protocols in the networked multi-agent systems.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124626028","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
Optimal Power Scheduling for Remote State Estimation: A Quantitative and Analytical Approach 远程状态估计的最优电力调度:一种定量分析方法
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757703
Yao Li, Cailian Chen, Shanying Zhu, X. Guan
{"title":"Optimal Power Scheduling for Remote State Estimation: A Quantitative and Analytical Approach","authors":"Yao Li, Cailian Chen, Shanying Zhu, X. Guan","doi":"10.1109/ISASS.2019.8757703","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757703","url":null,"abstract":"In this paper, problem of optimal sensor scheduling with limited power resources is considered. For a discrete-time linear process, we consider a more practical scenario where forward-error-correcting(FEC) coding scheme is utilized. An approximate linearized communication model is introduced to formulate the relationship between the consumption of power and successful-decoding-probability. Different from the present literatures, it is our first attempt to propose an analytical method to figure out the optimal off-line schedules under continuous power space. Numerical examples and essential proofs are provided to demonstrate and highlight the correctness of proposed ideas.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130058567","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
Super-exponential tracking for nonlinear systems with non-vanishing uncertainties 非消失不确定性非线性系统的超指数跟踪
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757737
Yujuan Wang, Xiang Chen, Yongduan Song, Mi Fang
{"title":"Super-exponential tracking for nonlinear systems with non-vanishing uncertainties","authors":"Yujuan Wang, Xiang Chen, Yongduan Song, Mi Fang","doi":"10.1109/ISASS.2019.8757737","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757737","url":null,"abstract":"In this paper we introduce a general and systematic approach to achieving robust tracking control for nonlinear systems with non-vanishing uncertainties, along with the complete rejection of non-vanishing uncertainties and user-assignable convergence rate. Furthermore, the convergence rate can be pre-specified faster than exponential or nearly as fast as any prescribed finite time if needed. The key design tool is the utilization of a time-varying feedback gain through a time-varying scaling function that satisfies certain conditions. A general way to construct such time-varying rate function is given such that the different yet assignable convergence rates can be achieved.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115945625","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 new channel estimation method based on GPR and wavelet denosing 一种基于探地雷达和小波去噪的信道估计新方法
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757750
Yazhou Yuan, Pengfei Wang, Zhixin Liu, Zhezhuang Xu
{"title":"A new channel estimation method based on GPR and wavelet denosing","authors":"Yazhou Yuan, Pengfei Wang, Zhixin Liu, Zhezhuang Xu","doi":"10.1109/ISASS.2019.8757750","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757750","url":null,"abstract":"In this paper, we propose a new method based on comb-type pilot which combines the Gaussian process regression (GPR) and the wavelet-denoising for channel estimation of orthogonal frequency-division multiplexing (OFDM) system. We use the OFDM receiver to estimate channel state information (CSI) at pilot explicitly and detect/recover the transmitted symbols using the estimated CSI. The initial channel frequency response on the pilot position is obtained by Least Square (LS) algorithm and processed by the wavelet-denoising algorithm which can reduce the influence of noise in the OFDM communication system. Then the frequency at pilot and values of its frequency response are used a training data for the GPR algorithm to get the channel frequency response of whole carrier. The simulation results show that under the multi-path channel circumstance, the new approach significantly reduces the bit error rates (BER) compared to traditional method.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127455496","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 nonsingular adaptive terminal sliding mode controller for MIMO linear systems with uncertainty 一种新的不确定MIMO线性系统的非奇异自适应终端滑模控制器
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757700
N. Zhao, Dongya Zhao
{"title":"A novel nonsingular adaptive terminal sliding mode controller for MIMO linear systems with uncertainty","authors":"N. Zhao, Dongya Zhao","doi":"10.1109/ISASS.2019.8757700","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757700","url":null,"abstract":"A novel nonsingular adaptive terminal sliding mode control (NATSMC) for MIMO linear systems is proposed in this paper. It is shown that the new method can force the states of system to converge to a region near the equilibrium point in finite time. Meanwhile, the singularity problem is avoided. The combination of barrier-function adaptive law can compensate the matched uncertainty without overestimation, and the size of the sliding mode (SM) convergence region can be further reduced. Finally, a simulation example is given to validate the effectiveness and robustness of the proposed method.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131145480","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
[Copyright notice] (版权)
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/isass.2019.8757729
{"title":"[Copyright notice]","authors":"","doi":"10.1109/isass.2019.8757729","DOIUrl":"https://doi.org/10.1109/isass.2019.8757729","url":null,"abstract":"","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132103795","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 Alert Strategy of Unmanned surface Vessel Based on Typical Missions 基于典型任务的无人水面舰艇警戒策略研究
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757743
Wei Han, Fengchi Xu, Xiangfeng Ma
{"title":"Research on Alert Strategy of Unmanned surface Vessel Based on Typical Missions","authors":"Wei Han, Fengchi Xu, Xiangfeng Ma","doi":"10.1109/ISASS.2019.8757743","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757743","url":null,"abstract":"In a typical patrol alert mission, taking the circular patrol protecting fixed targets as an example, we propose an alert strategy under different detection ranges and warning circle ranges. When the unmanned vessel has global detection capability, based on the elevator algorithm, the maximum interception number and the optimal interception path is obtained. When the unmanned vessel has local detection capability, in the case of non-threat target intrusion, according to the radar detection probability model, the enemy interception quantity is maximized and the optimal patrol speed is obtained. For multiple threat target intrusions, a threat risk model is established and an optimal alert strategy is provided. In this paper, we build models for different situations, which are more specific and reasonable. The simulation test verifies that the alert strategy proposed in this paper is applicable to the patrol alert mission in various situations of unmanned surface vessel.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123895448","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
An Improved Dual-mode EMPC Scheme via Scheduling Terminal Sets 一种基于终端集调度的改进双模EMPC方案
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757766
X. Shan, Defeng He, Shiming Yu, Shijian Dong
{"title":"An Improved Dual-mode EMPC Scheme via Scheduling Terminal Sets","authors":"X. Shan, Defeng He, Shiming Yu, Shijian Dong","doi":"10.1109/ISASS.2019.8757766","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757766","url":null,"abstract":"The paper presents an improved dual-mode economic model predictive control (EMPC) scheme of constrained input-affine nonlinear systems via scheduling terminal sets. The concept of the equilibrium surface of nonlinear systems is used to pick up a set of transitional equilibrium points of the EMPC scheme. For each equilibrium point, some local controllers with some free-parameters are designed by control Lyapunov functions, as well as maximum terminal invariant sets. It is guaranteed that not only the terminal invariant sets are overlapped each other but also the equilibrium points are in the invariant sets corresponding to the next equilibrium point. Then an improved dual-mode EMPC algorithm is formulated for the nonlinear system with enlarging domain of attraction. Recursive feasibility and stability of the closed-loop system are achieved. The example of the isothermal continuous stirred tank reactor (CSTR) is used to demonstrate the advantages of the presented scheme.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127978842","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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