自主智能系统(英文)最新文献

{"title":"Multi-agent reinforcement learning for cooperative lane changing of connected and autonomous vehicles in mixed traffic","authors":"Wei Zhou,&nbsp;Dong Chen,&nbsp;Jun Yan,&nbsp;Zhaojian Li,&nbsp;Huilin Yin,&nbsp;Wanchen Ge","doi":"10.1007/s43684-022-00023-5","DOIUrl":"10.1007/s43684-022-00023-5","url":null,"abstract":"<div><p>Autonomous driving has attracted significant research interests in the past two decades as it offers many potential benefits, including releasing drivers from exhausting driving and mitigating traffic congestion, among others. Despite promising progress, lane-changing remains a great challenge for autonomous vehicles (AV), especially in mixed and dynamic traffic scenarios. Recently, reinforcement learning (RL) has been widely explored for lane-changing decision makings in AVs with encouraging results demonstrated. However, the majority of those studies are focused on a single-vehicle setting, and lane-changing in the context of multiple AVs coexisting with human-driven vehicles (HDVs) have received scarce attention. In this paper, we formulate the lane-changing decision-making of multiple AVs in a mixed-traffic highway environment as a multi-agent reinforcement learning (MARL) problem, where each AV makes lane-changing decisions based on the motions of both neighboring AVs and HDVs. Specifically, a multi-agent advantage actor-critic (MA2C) method is proposed with a novel local reward design and a parameter sharing scheme. In particular, a multi-objective reward function is designed to incorporate fuel efficiency, driving comfort, and the safety of autonomous driving. A comprehensive experimental study is made that our proposed MARL framework consistently outperforms several state-of-the-art benchmarks in terms of efficiency, safety, and driver comfort.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"2 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-022-00023-5.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"52856324","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"End-of-Life Decision making in circular economy using generalized colored stochastic Petri nets","authors":"Gautier Vanson,&nbsp;Pascale Marangé,&nbsp;Eric Levrat","doi":"10.1007/s43684-022-00022-6","DOIUrl":"10.1007/s43684-022-00022-6","url":null,"abstract":"<div><p>Circular economy enables to restore product value at the end of life i.e. when no longer used or damaged. Thus, the product life cycle is extended and this economy permits to reduce waste increase and resources rarefaction. There are several revaluation options (reuse, remanufacturing, recycling, …). So, decision makers need to assess these options to determine which is the best decision. Thus, we will present a study about an End-Of-Life (EoL) decision making which aims to facilitate the industrialization of circular economy. For this, it is essential to consider all variables and parameters impacting the decision of the product trajectory. A first part of the work proposes to identify the variables and parameters impacting the decision making. A second part proposes an assessment approach based on a modeling by Generalized Colored Stochastic Petri Net (GCSPN) and on a Monte-Carlo simulation. The approach developed is tested on an industrial example from the literature to analyze the efficiency and effectiveness of the model. This first application showed the feasibility of the approach, and also the limits of the GCSPN modelling.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"2 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-022-00022-6.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43164694","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Mass estimation method for intelligent vehicles based on fusion of machine learning and vehicle dynamic model","authors":"Zhuoping Yu,&nbsp;Xinchen Hou,&nbsp;Bo Leng,&nbsp;Yuyao Huang","doi":"10.1007/s43684-022-00020-8","DOIUrl":"10.1007/s43684-022-00020-8","url":null,"abstract":"<div><p>Vehicle mass is an important parameter for motion control of intelligent vehicles, but is hard to directly measure using normal sensors. Therefore, accurate estimation of vehicle mass becomes crucial. In this paper, a vehicle mass estimation method based on fusion of machine learning and vehicle dynamic model is introduced. In machine learning method, a feedforward neural network (FFNN) is used to learn the relationship between vehicle mass and other state parameters, namely longitudinal speed and acceleration, driving or braking torque, and wheel angular speed. In dynamics-based method, recursive least square (RLS) with forgetting factor based on vehicle dynamic model is used to estimate the vehicle mass. According to the reliability of each method under different conditions, these two methods are fused using fuzzy logic. Simulation tests under New European Driving Cycle (NEDC) condition are carried out. The simulation results show that the estimation accuracy of the fusion method is around 97%, and that the fusion method performs better stability and robustness compared with each single method.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"2 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-022-00020-8.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47404510","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An ontological modelling of multi-attribute criticality analysis to guide Prognostics and Health Management program development","authors":"Adalberto Polenghi,&nbsp;Irene Roda,&nbsp;Marco Macchi,&nbsp;Alessandro Pozzetti","doi":"10.1007/s43684-022-00021-7","DOIUrl":"10.1007/s43684-022-00021-7","url":null,"abstract":"<div><p>Digital technologies are becoming more pervasive and industrial companies are exploiting them to enhance the potentialities related to Prognostics and Health Management (PHM). Indeed, PHM allows to evaluate the health state of the physical assets as well as to predict their future behaviour. To be effective in developing PHM programs, the most critical assets should be identified so to direct modelling efforts. Several techniques could be adopted to evaluate asset criticality; in industrial practice, criticality analysis is amongst the most utilised. Despite the advancement of artificial intelligence for data analysis and predictions, the criticality analysis, which is built upon both quantitative and qualitative data, has not been improved accordingly. It is the goal of this work to propose an ontological formalisation of a multi-attribute criticality analysis in order to i) fix the semantics behind the terms involved in the analysis, ii) standardize and uniform the way criticality analysis is performed, and iii) take advantage of the reasoning capabilities to automatically evaluate asset criticality and associate a suitable maintenance strategy. The developed ontology, called MOCA, is tested in a food company featuring a global footprint. The application shows that MOCA can accomplish the prefixed goals; specifically, high priority assets towards which direct PHM programs are identified. In the long run, ontologies could serve as a unique knowledge base that integrate multiple data and information across facilities in a consistent way. As such, they will enable advanced analytics to take place, allowing to move towards cognitive Cyber Physical Systems that enhance business performance for companies spread worldwide.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"2 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-022-00021-7.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48152028","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Neural network-based adaptive sliding mode control for underactuated dual overhead cranes suffering from matched and unmatched disturbances","authors":"Tianci Wen,&nbsp;Yongchun Fang,&nbsp;Biao Lu","doi":"10.1007/s43684-021-00019-7","DOIUrl":"10.1007/s43684-021-00019-7","url":null,"abstract":"<div><p>To improve transportation capacity, dual overhead crane systems (DOCSs) are playing an increasingly important role in the transportation of large/heavy cargos and containers. Unfortunately, when trying to deal with the control problem, current methods fail to fully consider such factors as external disturbances, input dead zones, parameter uncertainties, and other unmodeled dynamics that DOCSs usually suffer from. As a result, dramatic degradation is caused in the control performance, which badly hinders the practical applications of DOCSs. Motivated by this fact, this paper designs a neural network-based adaptive sliding mode control (SMC) method for DOCS to solve the aforementioned issues, which achieves satisfactory control performance for both actuated and underactuated state variables, even in the presence of matched and mismatched disturbances. The asymptotic stability of the desired equilibrium point is proved with rigorous Lyapunov-based analysis. Finally, extensive hardware experimental results are collected to verify the efficiency and robustness of the proposed method.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"2 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00019-7.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49006319","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Task scheduling for transport and pick robots in logistics: a comparative study on constructive heuristics","authors":"Hanfu Wang,&nbsp;Weidong Chen","doi":"10.1007/s43684-021-00017-9","DOIUrl":"10.1007/s43684-021-00017-9","url":null,"abstract":"<div><p>We study the Transport and Pick Robots Task Scheduling (TPS) problem, in which two teams of specialized robots, transport robots and pick robots, collaborate to execute multi-station order fulfillment tasks in logistic environments. The objective is to plan a collective time-extended task schedule with the minimization of makespan. However, for this recently formulated problem, it is still unclear how to obtain satisfying results efficiently. In this research, we design several constructive heuristics to solve this problem based on the introduced sequence models. Theoretically, we give time complexity analysis or feasibility guarantees of these heuristics; empirically, we evaluate the makespan performance criteria and computation time on designed dataset. Computational results demonstrate that coupled append heuristic works better for the most cases within reasonable computation time. Coupled heuristics work better than decoupled heuristics prominently on instances with relative few pick robot numbers and large work zones. The law of diminishing marginal utility is also observed concerning the overall system performance and different transport-pick robot numbers.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00017-9.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41950817","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Hastily formed knowledge networks and distributed situation awareness for collaborative robotics","authors":"Patrick Doherty,&nbsp;Cyrille Berger,&nbsp;Piotr Rudol,&nbsp;Mariusz Wzorek","doi":"10.1007/s43684-021-00016-w","DOIUrl":"10.1007/s43684-021-00016-w","url":null,"abstract":"<div><p>In the context of collaborative robotics, distributed situation awareness is essential for supporting collective intelligence in teams of robots and human agents where it can be used for both individual and collective decision support. This is particularly important in applications pertaining to emergency rescue and crisis management. During operational missions, data and knowledge are gathered incrementally and in different ways by heterogeneous robots and humans. We describe this as the creation of <i>Hastily Formed Knowledge Networks</i> (HFKNs). The focus of this paper is the specification and prototyping of a general distributed system architecture that supports the creation of HFKNs by teams of robots and humans. The information collected ranges from low-level sensor data to high-level semantic knowledge, the latter represented in part as RDF Graphs. The framework includes a synchronization protocol and associated algorithms that allow for the automatic distribution and sharing of data and knowledge between agents. This is done through the distributed synchronization of RDF Graphs shared between agents. High-level semantic queries specified in SPARQL can be used by robots and humans alike to acquire both knowledge and data content from team members. The system is empirically validated and complexity results of the proposed algorithms are provided. Additionally, a field robotics case study is described, where a 3D mapping mission has been executed using several UAVs in a collaborative emergency rescue scenario while using the full HFKN Framework.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00016-w.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42332368","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Autonomous maneuver strategy of swarm air combat based on DDPG","authors":"Luhe Wang,&nbsp;Jinwen Hu,&nbsp;Zhao Xu,&nbsp;Chunhui Zhao","doi":"10.1007/s43684-021-00013-z","DOIUrl":"10.1007/s43684-021-00013-z","url":null,"abstract":"<div><p>Unmanned aerial vehicles (UAVs) have been found significantly important in the air combats, where intelligent and swarms of UAVs will be able to tackle with the tasks of high complexity and dynamics. The key to empower the UAVs with such capability is the autonomous maneuver decision making. In this paper, an autonomous maneuver strategy of UAV swarms in beyond visual range air combat based on reinforcement learning is proposed. First, based on the process of air combat and the constraints of the swarm, the motion model of UAV and the multi-to-one air combat model are established. Second, a two-stage maneuver strategy based on air combat principles is designed which include inter-vehicle collaboration and target-vehicle confrontation. Then, a swarm air combat algorithm based on deep deterministic policy gradient strategy (DDPG) is proposed for online strategy training. Finally, the effectiveness of the proposed algorithm is validated by multi-scene simulations. The results show that the algorithm is suitable for UAV swarms of different scales.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00013-z.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48182104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Distributed multi-robot sweep coverage for a region with unknown workload distribution","authors":"Muqing Cao,&nbsp;Kun Cao,&nbsp;Xiuxian Li,&nbsp;Shenghai Yuan,&nbsp;Yang Lyu,&nbsp;Thien-Minh Nguyen,&nbsp;Lihua Xie","doi":"10.1007/s43684-021-00011-1","DOIUrl":"10.1007/s43684-021-00011-1","url":null,"abstract":"<div><p>This paper considers the scenario where multiple robots collaboratively cover a region in which the exact distribution of workload is unknown prior to the operation. The workload distribution is not uniform in the region, meaning that the time required to cover a unit area varies at different locations of the region. In our approach, we divide the target region into multiple horizontal stripes, and the robots sweep the current stripe while partitioning the next stripe concurrently. We propose a distributed workload partition algorithm and prove that the operation time on each stripe converges to the minimum under the discrete-time update law. We conduct comprehensive simulation studies and compare our method with the existing methods to verify the theoretical results and the advantage of the proposed method. Flight experiments on mini drones are also conducted to demonstrate the practicality of the proposed algorithm.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00011-1.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44506233","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Router and gateway node placement in wireless mesh networks for emergency rescue scenarios","authors":"Mariusz Wzorek,&nbsp;Cyrille Berger,&nbsp;Patrick Doherty","doi":"10.1007/s43684-021-00012-0","DOIUrl":"10.1007/s43684-021-00012-0","url":null,"abstract":"<div><p>The focus of this paper is on base functionalities required for UAV-based rapid deployment of an ad hoc communication infrastructure in the initial phases of rescue operations. The main idea is to use heterogeneous teams of UAVs to deploy communication kits that include routers, and are used in the generation of ad hoc Wireless Mesh Networks (WMN). Several fundamental problems are considered and algorithms are proposed to solve these problems. The Router Node Placement problem (RNP) and a generalization of it that takes into account additional constraints arising in actual field usage is considered first. The RNP problem tries to determine how to optimally place routers in a WMN. A new algorithm, the RRT-WMN algorithm, is proposed to solve this problem. It is based in part on a novel use of the Rapidly Exploring Random Trees (RRT) algorithm used in motion planning. A comparative empirical evaluation between the RRT-WMN algorithm and existing techniques such as the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) and Particle Swarm Optimization (PSO), shows that the RRT-WMN algorithm has far better performance both in amount of time taken and regional coverage as the generalized RNP problem scales to realistic scenarios. The Gateway Node Placement Problem (GNP) tries to determine how to locate a minimal number of gateway nodes in a WMN backbone network while satisfying a number of Quality of Service (QoS) constraints.Two alternatives are proposed for solving the combined RNP-GNP problem. The first approach combines the RRT-WMN algorithm with a preexisting graph clustering algorithm. The second approach, WMNbyAreaDecomposition, proposes a novel divide-and-conquer algorithm that recursively partitions a target deployment area into a set of disjoint regions, thus creating a number of simpler RNP problems that are then solved concurrently. Both algorithms are evaluated on real-world GIS models of different size and complexity. WMNbyAreaDecomposition is shown to outperform existing algorithms using 73% to 92% fewer router nodes while at the same time satisfying all QoS requirements.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00012-0.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42418948","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}