Intelligence & Robotics最新文献_第3页

Stability compensation of an admittance-controlled cartesian robot considering physical interaction with a human operator 考虑与人类操作者物理交互的导纳控制直角机器人的稳定性补偿

Intelligence & Robotics Pub Date : 2023-07-25 DOI: 10.20517/ir.2023.20

Narawich Songthumjitti, T. Inaba

引用次数: 0

Robust distributed model predictive control of connected vehicle platoon against DoS attacks 车联网队列抗DoS攻击的鲁棒分布式模型预测控制

Intelligence & Robotics Pub Date : 2023-07-25 DOI: 10.20517/ir.2023.19

Hao Zeng, Zehua Ye, Dan Zhang, Qun Lu

{"title":"Robust distributed model predictive control of connected vehicle platoon against DoS attacks","authors":"Hao Zeng, Zehua Ye, Dan Zhang, Qun Lu","doi":"10.20517/ir.2023.19","DOIUrl":"https://doi.org/10.20517/ir.2023.19","url":null,"abstract":"This paper investigates the robust distributed model predictive control (DMPC) of connected vehicle platoon (CVP) systems subject to denial-of-service (DoS) attacks. The main objective is to design a DMPC algorithm that enables the CVP system to achieve exponential tracking performance. First, a switched system model is proposed for the networked CVP system in the presence of DoS attacks. Then the sufficient conditions for the exponential stability of tracking the performance of the CVP control system under DoS attacks are obtained by constructing a specific Lyapunov function and using the topological matrix decoupling technique. In our paper, the DoS attack phenomenon is handled by introducing the frequency and duration parameters, and a quantitative relationship between the exponential decay rate of the CVP system and the DoS attacks parameters is established based on the conditions proposed in the system design, and the critical value of the DoS attack duration ratio is also derived. Finally, the effectiveness of the proposed algorithm is verified through a simulation of a CVP system consisting of one leading vehicle and three following vehicles.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133489292","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

Robust coverage control of multiple USVs with time-varying disturbances 时变扰动下多usv的鲁棒覆盖控制

Intelligence & Robotics Pub Date : 2023-07-20 DOI: 10.20517/ir.2023.15

Qihai Sun, Zhiwei Liu, Ming Chi, Ming‐Feng Ge, Dingxin He

引用次数: 0

State-sensitive event-triggered path following control of autonomous ground vehicles 自主地面车辆状态敏感事件触发路径跟踪控制

Intelligence & Robotics Pub Date : 2023-07-20 DOI: 10.20517/ir.2023.17

Hongtao Sun, Jin-ming Huang, Zhi Chen, Zhiwen Wang

{"title":"State-sensitive event-triggered path following control of autonomous ground vehicles","authors":"Hongtao Sun, Jin-ming Huang, Zhi Chen, Zhiwen Wang","doi":"10.20517/ir.2023.17","DOIUrl":"https://doi.org/10.20517/ir.2023.17","url":null,"abstract":"This paper investigates an improved event-triggered control based on the perception of state measurement for path following control of autonomous ground vehicles. Firstly, in order to regulate the event-triggered thresholds dynamically, a barrier-like function is first used to develop such a novel state-sensitive event-triggered communication (SS-ETC) scheme. Different from the existing variable-threshold ETC schemes, the proposed SS-ETC incorporates the state measurements directly in the event threshold adjustment, eliminating the need for additional terms or dynamics introduced in previous works. Secondly, the networked path following control modeling issues, which include both physical dynamics and the SS-ETC scheme, are characterized by the input delay approach. The controller design method is well derived, ensuring the preservation of input-to-state stability of the path following control system. The main advantage of this paper lies in the proposed SS-ETC, which shows a better trade-off between control and communication. Finally, several simulation experiments are conducted to verify the effectiveness of the proposed event-triggered control scheme.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129775483","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

Intelligent flood forecasting and warning: a survey 智能洪水预报预警研究进展

Intelligence & Robotics Pub Date : 2023-06-28 DOI: 10.20517/ir.2023.12

Yue Zhang, Daiwei Pan, J. Van Griensven, Simon X. Yang, Bahram Gharabaghi

引用次数: 1

A bio-inspired algorithm in image-based path planning and localization using visual features and maps 基于视觉特征和地图的基于图像的路径规划和定位的仿生算法

Intelligence & Robotics Pub Date : 2023-06-28 DOI: 10.20517/ir.2023.14

Daniel J. Short, Tingjun Lei, C. Luo, Daniel W. Carruth, Z. Bi

{"title":"A bio-inspired algorithm in image-based path planning and localization using visual features and maps","authors":"Daniel J. Short, Tingjun Lei, C. Luo, Daniel W. Carruth, Z. Bi","doi":"10.20517/ir.2023.14","DOIUrl":"https://doi.org/10.20517/ir.2023.14","url":null,"abstract":"With the growing applications of autonomous robots and vehicles in unknown environments, studies on image-based localization and navigation have attracted a great deal of attention. This study is significantly motivated by the observation that relatively little research has been published on the integration of cutting-edge path planning algorithms for robust, reliable, and effective image-based navigation. To address this gap, a biologically inspired Bat Algorithm (BA) is introduced and adopted for image-based path planning in this paper. The proposed algorithm utilizes visual features as the reference in generating a path for an autonomous vehicle, and these features are extracted from the obtained images by convolutional neural networks (CNNs). The paper proceeds as follows: first, the requirements for image-based localization and navigation are described. Second, the principles of the BA are explained in order to expound on the justifications for its successful incorporation in image-based navigation. Third, in the proposed image-based navigation system, the BA is developed and implemented as a path planning tool for global path planning. Finally, the performance of the BA is analyzed and verified through simulation and comparison studies to demonstrate its effectiveness.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122791697","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

The cooperatability of the first-order multi-agent systems consisting of a leader and a follower with multiplicative noises under Markov switching topologies 具有乘性噪声的一阶多智能体系统在马尔可夫切换拓扑下的协同性

Intelligence & Robotics Pub Date : 2023-06-28 DOI: 10.20517/ir.2023.13

Dianqiang Li, Tao Li

{"title":"The cooperatability of the first-order multi-agent systems consisting of a leader and a follower with multiplicative noises under Markov switching topologies","authors":"Dianqiang Li, Tao Li","doi":"10.20517/ir.2023.13","DOIUrl":"https://doi.org/10.20517/ir.2023.13","url":null,"abstract":"We investigate the cooperatability of the first-order leader-following multi-agent systems consisting of a leader and a follower with multiplicative noises under Markov switching topologies. Each agent exhibits first-order linear dynamics, and there are multiplicative noises along with information exchange among the agents. What is more, the communication topologies are Markov switching topologies. By utilizing the stability theory of the stochastic differential equations with Markovian switching and the Markov chain theory, we establish the necessary and sufficient conditions for the cooperatability of the leader-following multi-agent systems. The conditions are outlined below: (ⅰ) The product of the system parameter and the square of multiplicative noise intensities should be less than 1/2; (ⅱ) The transition rate from the unconnected graph to the connected graph should be twice the system parameter; (ⅲ) The transition rate from the connected graph to the unconnected graph should be less than a constant that is related to the system parameter, the intensities of multiplicative noises, and the transition rate from the unconnected graph to the connected graph. Finally, the effectiveness of our control strategy is demonstrated by the population growth systems.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129048284","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

Adaptive backstepping control of high-order fully actuated nonlinear systems with event-triggered strategy 基于事件触发策略的高阶全驱动非线性系统自适应反演控制

Intelligence & Robotics Pub Date : 2023-06-27 DOI: 10.20517/ir.2023.11

Chengyuan Yan, Jianwei Xia, Xinru Liu, Hua Yue, Chongbo Li

引用次数: 0

Reinforcement learning with parameterized action space and sparse reward for UAV navigation 基于参数化动作空间和稀疏奖励的无人机导航强化学习

Intelligence & Robotics Pub Date : 2023-06-27 DOI: 10.20517/ir.2023.10

Shiying Feng, Xiaofeng Li, Lu Ren, Shuiqing Xu

引用次数: 0

ℋ∞ leader-following consensus of multi-agent systems with channel fading under switching topologies: a semi-Markov kernel approach 交换拓扑下信道衰落的多智能体系统的h∞前导-跟随一致性:半马尔可夫核方法

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2022.19

Haoyue Yang, Hao Zhao, Zhuping Wang, Xue Zhou

{"title":"ℋ∞ leader-following consensus of multi-agent systems with channel fading under switching topologies: a semi-Markov kernel approach","authors":"Haoyue Yang, Hao Zhao, Zhuping Wang, Xue Zhou","doi":"10.20517/ir.2022.19","DOIUrl":"https://doi.org/10.20517/ir.2022.19","url":null,"abstract":"This paper focuses on the leader-following consensus problem of discrete-time multi-agent systems subject to channel fading under switching topologies. First, a topology switching-based channel fading model is established to describe the information fading of the communication channel among agents, which also considers the channel fading from leader to follower and from follower to follower. It is more general than models in the existing literature that only consider follower-to-follower fading. For discrete multi-agent systems, the existing literature usually adopts time series or Markov process to characterize topology switching while ignoring the more general semi-Markov process. Based on the advantages and properties of semi-Markov processes, discrete semi-Markov jump processes are adopted to model network topology switching. Then, the semi-Markov kernel approach for handling discrete semi-Markov jumping systems is exploited and some novel sufficient conditions to ensure the leader-following mean square consensus of closed-loop systems are derived. Furthermore, the distributed consensus protocol is proposed by means of the stochastic Lyapunov stability theory so that the underlying systems can achieve ℋ∞ consensus performance index. In addition, the proposed method is extended to the scenario where the semi-Markov kernel of semi-Markov switching topologies is not completely accessible. Finally, a simulation example is given to verify the results proposed in this paper. Compared with the existing literature, the method in this paper is more effective and general.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127004139","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

Intelligence &amp; Robotics最新文献

Intelligence & Robotics最新文献