Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)最新文献_第8页

A Gecko-Inspired Robot Using Novel Variable-Stiffness Adhesive Paw Can Climb on Rough/Smooth Surfaces in Microgravity 受壁虎启发的机器人使用新型可变刚度粘合剂爪，可在微重力条件下在粗糙/光滑表面上攀爬

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-22 DOI: 10.1002/aisy.202400043

Zhiwei Yu, Xiaofeng Xu, Benhua Zhao, Jiahui Fu, Linfeng Wang, Zhouyi Wang, Chengguang Fan, Simon X. Yang, Aihong Ji

{"title":"A Gecko-Inspired Robot Using Novel Variable-Stiffness Adhesive Paw Can Climb on Rough/Smooth Surfaces in Microgravity","authors":"Zhiwei Yu, Xiaofeng Xu, Benhua Zhao, Jiahui Fu, Linfeng Wang, Zhouyi Wang, Chengguang Fan, Simon X. Yang, Aihong Ji","doi":"10.1002/aisy.202400043","DOIUrl":"https://doi.org/10.1002/aisy.202400043","url":null,"abstract":"Space-wall-climbing robots face the challenge of stably attaching to and moving on spacecraft surfaces, which include smooth flat areas and rough intricate surfaces. Although adhesion-based wall-climbing robots demonstrate stable climbing on smooth surfaces in outer space, there is scarce research on their stable adhesion on rough surfaces within a microgravity environment. A novel adhesive material is developed inspired by the adhesion mechanism and locomotion of the Gekko gecko. This material exhibits exceptional adhesion across various materials and surface roughness. A variable-stiffness gecko-inspired paw is engineered, generating substantial adhesion forces while minimizing detachment forces. Impressively, this paw generates up to 180 N of adhesion force on smooth surfaces and achieves detachment without external forces. By integrating such variable-stiffness paws with a wall-climbing robot, a gecko-inspired robot effectively operating in a microgravity environment is created. The robotic satellite surface climbing experiments and robotic satellite capture experiments are conducted using a simulated microgravity environment and a satellite model. The results unequivocally demonstrate the gecko-inspired robot's proficiency in executing various functions, including stable motion and capture on both smooth and rough spacecraft surfaces within a microgravity environment. These experiments underscore the potential of adhesion-based gecko-inspired robots for in-orbit services and spacecraft capture and recovery.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 10","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-09-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400043","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142443370","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}

引用次数: 0

Mechanochromic Suction Cups for Local Stress Detection in Soft Robotics

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-19 DOI: 10.1002/aisy.202400254

Goffredo Giordano, Rob Bernardus Nicolaas Scharff, Marco Carlotti, Mariacristina Gagliardi, Carlo Filippeschi, Alessio Mondini, Antonio Papangelo, Barbara Mazzolai

{"title":"Mechanochromic Suction Cups for Local Stress Detection in Soft Robotics","authors":"Goffredo Giordano, Rob Bernardus Nicolaas Scharff, Marco Carlotti, Mariacristina Gagliardi, Carlo Filippeschi, Alessio Mondini, Antonio Papangelo, Barbara Mazzolai","doi":"10.1002/aisy.202400254","DOIUrl":"https://doi.org/10.1002/aisy.202400254","url":null,"abstract":"Advancements in smart soft materials are enhancing the capabilities of robotic manipulators in object interactions and complex tasks. Mechanochromic materials, acting as lightweight sensors, offer easily interpretable visual feedback for localized stress detection, structural health monitoring, and energy-efficient robotic skins. Herein, an innovative mechanochromic soft end-effector capable of discerning local contact stresses during mechanical interactions with objects is presented and their relative position is ascertained. This system utilizes a reversible force-induced color switch in a thin layer of spiropyran-functionalized polydimethylsiloxane, which coats a silicone-made suction cup. The mechanochromic suction cup is integrated with a 3D-printed compact load-transferring system and electronic color-changing detection elements. The assembly may serve as a synthetic receptor for robotic actuators, discerning localized interaction forces down to 3 N. The system's resilience to varying environmental factors, including illumination, tilting, and interaction with objects of various shapes is verified. The results indicate potential for exteroceptive solutions in reconfigurable manipulation tasks without compromising the overall softness of the manipulator.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 12","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400254","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143253019","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}

引用次数: 0

Long-Distance Autonomous Navigation of Optical Microrobotic Swarms in Complex Environments

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-19 DOI: 10.1002/aisy.202400409

Zhihan Chen, Siyuan Huang, Yuebing Zheng

{"title":"Long-Distance Autonomous Navigation of Optical Microrobotic Swarms in Complex Environments","authors":"Zhihan Chen, Siyuan Huang, Yuebing Zheng","doi":"10.1002/aisy.202400409","DOIUrl":"https://doi.org/10.1002/aisy.202400409","url":null,"abstract":"The local force field generated by light endows optical microrobots with remarkable flexibility and adaptivity, promising significant advancements in precise medicine and cell transport. Nevertheless, the automated navigation of multiple optical microrobots in intricate, dynamic environments over extended distances remains a challenge. Herein, a versatile control strategy aimed at navigating optical microrobotic swarms to distant targets under obstacles of varying sizes, shapes, and velocities is introduced. By confining all microrobots within a manipulation domain, swarm integrity is ensured while mitigating the effects of Brownian motion. Obstacle's elliptical approximation is developed to facilitate efficient obstacle avoidance for microrobotic swarms. Additionally, several supplementary functions are integrated to enhance swarm robustness and intelligence, addressing uncertainties such as swarm collapse, particle immobilization, and anomalous laser–obstacle interactions in real microscopic environments. We further demonstrate the efficacy and versatility of our proposed strategy by achieving autonomous long-distance navigation to a series of targets. This strategy is compatible with both optical trapping- and nudging-based microrobotic swarms, representing a significant advancement in enabling optical microrobots to undertake complex tasks such as drug delivery and nanosurgery and understanding collective motions.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 12","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400409","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143253018","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}

引用次数: 0

A Microrobotic Design for the Spontaneous Tracing of Isochemical Contours in the Environment 用于自发追踪环境中等化学轮廓的微型机器人设计

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-09 DOI: 10.1002/aisy.202400002

A. Merritt Brooks, Sungyun Yang, Byung Ha Kang, Michael S. Strano

{"title":"A Microrobotic Design for the Spontaneous Tracing of Isochemical Contours in the Environment","authors":"A. Merritt Brooks, Sungyun Yang, Byung Ha Kang, Michael S. Strano","doi":"10.1002/aisy.202400002","DOIUrl":"https://doi.org/10.1002/aisy.202400002","url":null,"abstract":"Microrobotic platforms hold significant potential to advance a variety of fields, from medicine to environmental sensing. Herein, minimally functional robotic entities modeled on readily achievable state-of-the-art features in a modern lab or cleanroom are computationally simulated. Inspired by Dou and Bishop (Phys Rev Res. 2019;1(3):1–5), it is shown that the simple combination of unidirectional steering connected to a single environmental (chemical) sensor along with constant propulsion gives rise to highly complex functions of significant utility. Such systems can trace the contours orthogonal to arbitrary chemical gradients in the environment. Also, pairs of such robots that are additionally capable of emitting the same chemical signal are shown to exhibit coupled relative motion. When the pair has unidirectional steering in opposite directions within the 2D plane (i.e., counter-rotating), they move in parallel trajectories to each other. Alternatively, when steering is in the same direction (corotation), the two move in the same epicyclical trajectory. In this way, the chirality of the unidirectional steering produces two distinct emergent phenomena. The behavior is understood as a ratchet mechanism that exploits the differential in the radii of curvature corresponding to different spatial locations. Applications to environmental detection, remediation, and monitoring are discussed.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 10","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400002","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142443497","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}

引用次数: 0

Review of Human–Robot Collaboration in Robotic Surgery

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-09 DOI: 10.1002/aisy.202400319

Qianyi Wan, Yudong Shi, Xilin Xiao, Xiaojian Li, Hangjie Mo

{"title":"Review of Human–Robot Collaboration in Robotic Surgery","authors":"Qianyi Wan, Yudong Shi, Xilin Xiao, Xiaojian Li, Hangjie Mo","doi":"10.1002/aisy.202400319","DOIUrl":"https://doi.org/10.1002/aisy.202400319","url":null,"abstract":"Human–robot collaboration (HRC) technology has emerged as a pivotal innovation in robotic surgery, significantly augmenting surgeons’ capabilities and enhancing the precision, safety, and efficacy of surgical procedures. This technology has been widely adopted across various surgical disciplines, including general surgery, cardiothoracic surgery, urology, and neurosurgery. By classifying HRC technology into three interactive modes based on the level of autonomy in robot-assisted minimally invasive surgery, key technologies in imaging perception, force sensing, and human–robot interaction control methods are thoroughly explored. In this review, a comprehensive and up-to-date overview of advancements in HRC technology within surgical robotics is provided. Additionally, this review delves into the challenges and safety concerns associated with employing robotic systems in surgery, highlighting areas for improvement and innovation. Finally, a forward-looking perspective on trends in HRC technology is presented, offering insights into how emerging innovations are set to enhance and transform surgical practices.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"7 2","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400319","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143423665","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}

引用次数: 0

Data-Driven Modeling and High-Precision Tracking Control of a Soft Continuum Manipulator: Enabling Robotic Sorting of Multiwire Cables 软连续机械手的数据驱动建模和高精度跟踪控制：实现多线电缆的机器人分类

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-09 DOI: 10.1002/aisy.202300827

Yuan Gao, Zhi Chen, Fangxun Zhong, Xiang Li, Yun-Hui Liu

{"title":"Data-Driven Modeling and High-Precision Tracking Control of a Soft Continuum Manipulator: Enabling Robotic Sorting of Multiwire Cables","authors":"Yuan Gao, Zhi Chen, Fangxun Zhong, Xiang Li, Yun-Hui Liu","doi":"10.1002/aisy.202300827","DOIUrl":"https://doi.org/10.1002/aisy.202300827","url":null,"abstract":"As a new class of robots, soft continuum manipulators have attracted attention due to their flexibility and compliance. However, these characteristics create challenges for precise modeling and control. This study proposes a hybrid offline and online data-driven scheme to achieve high-precision tracking control of a soft continuum manipulator. First, a novel multiscale deep neural network learns the manipulator model offline. Specifically, the feature fusion module extracts highly discriminative features and captures long-term dependencies from the temporal trajectory data. The self-attention module strengthens the ability to represent fusion features and enhances the model prediction accuracy. Then, the learnt model is updated using multisensor data online, and the proposed controller further compensates for the updated model and enhances the tracking accuracy in the movement stage. Finally, the experimental results demonstrate a significant improvement in motion accuracy under different trajectory-tracking scenarios (i.e., deviations of <1 mm in position and <0.8° in orientation). The example of the multiwire cable sorting proves the feasibility of the proposed scheme in high-precision industrial applications.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 10","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202300827","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142443496","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}

引用次数: 0

Soft Upper-Limb Wearable Robotic Devices: Technology and Applications

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-09 DOI: 10.1002/aisy.202400266

Bibhu Sharma, Phuoc Thien Phan, James Davies, Trung Thien Hoang, Chi Cong Nguyen, Adrienne Ji, Kefan Zhu, Emanuele Nicotra, Nigel H. Lovell, Thanh Nho Do

{"title":"Soft Upper-Limb Wearable Robotic Devices: Technology and Applications","authors":"Bibhu Sharma, Phuoc Thien Phan, James Davies, Trung Thien Hoang, Chi Cong Nguyen, Adrienne Ji, Kefan Zhu, Emanuele Nicotra, Nigel H. Lovell, Thanh Nho Do","doi":"10.1002/aisy.202400266","DOIUrl":"https://doi.org/10.1002/aisy.202400266","url":null,"abstract":"One of the practical applications in the field of soft robotics involves the development of soft robotic wearable devices. These devices make use of their intrinsically compliant structures to interact safely and harmoniously with the human body. While soft wearable robots demonstrate their utility in lower-limb applications for locomotion, the upper-limb domain offers significant prospects in a wide range of applications that soft robotic technology can address. In this review, the current state of technology in the field of soft wearable upper limbs is systematically analyzed and categorized. Categorizations are made based on their applications in rehabilitation, activities of daily living support, and human augmentation. Furthermore, in this study, also contemporary technological aspects, encompassing sensing technology and control systems, are explored. Despite exciting potential in this domain, several limitations from existing devices inherently impede widespread adoption and thus hinder further progress in the field. In this study, also an overview of the different facets of the domain is provided and key considerations for the advancement of soft wearable robotic devices intended for upper-limb applications are prescribed.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 12","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400266","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143252195","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}

引用次数: 0

Multihead Attention U-Net for Magnetic Particle Imaging–Computed Tomography Image Segmentation 用于磁粉成像-计算机断层扫描图像分割的多头注意力 U-Net

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-09 DOI: 10.1002/aisy.202400007

Aniwat Juhong, Bo Li, Yifan Liu, Chia-Wei Yang, Cheng-You Yao, Dalen W. Agnew, Yu Leo Lei, Gary D. Luker, Harvey Bumpers, Xuefei Huang, Wibool Piyawattanametha, Zhen Qiu

{"title":"Multihead Attention U-Net for Magnetic Particle Imaging–Computed Tomography Image Segmentation","authors":"Aniwat Juhong, Bo Li, Yifan Liu, Chia-Wei Yang, Cheng-You Yao, Dalen W. Agnew, Yu Leo Lei, Gary D. Luker, Harvey Bumpers, Xuefei Huang, Wibool Piyawattanametha, Zhen Qiu","doi":"10.1002/aisy.202400007","DOIUrl":"https://doi.org/10.1002/aisy.202400007","url":null,"abstract":"Magnetic particle imaging (MPI) is an emerging noninvasive molecular imaging modality with high sensitivity and specificity, exceptional linear quantitative ability, and potential for successful applications in clinical settings. Computed tomography (CT) is typically combined with the MPI image to obtain more anatomical information. Herein, a deep learning-based approach for MPI-CT image segmentation is presented. The dataset utilized in training the proposed deep learning model is obtained from a transgenic mouse model of breast cancer following administration of indocyanine green (ICG)-conjugated superparamagnetic iron oxide nanoworms (NWs-ICG) as the tracer. The NWs-ICG particles progressively accumulate in tumors due to the enhanced permeability and retention (EPR) effect. The proposed deep learning model exploits the advantages of the multihead attention mechanism and the U-Net model to perform segmentation on the MPI-CT images, showing superb results. In addition, the model is characterized with a different number of attention heads to explore the optimal number for our custom MPI-CT dataset.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 10","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400007","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142443498","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}

引用次数: 0

Biomechanics-Based User-Adaptive Variable Impedance Control for Enhanced Physical Human–Robot Interaction Using Bayesian Optimization

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-04 DOI: 10.1002/aisy.202400333

Fatemeh Zahedi, Hyunglae Lee

{"title":"Biomechanics-Based User-Adaptive Variable Impedance Control for Enhanced Physical Human–Robot Interaction Using Bayesian Optimization","authors":"Fatemeh Zahedi, Hyunglae Lee","doi":"10.1002/aisy.202400333","DOIUrl":"https://doi.org/10.1002/aisy.202400333","url":null,"abstract":"This paper presents a biomechanics-based, user-adaptive variable impedance controller designed to enhance the performance of coupled human–robot systems during motion. The controller integrates the biomechanical characteristics of human limbs and dynamically adjusts the robotic impedance parameters—specifically damping, stiffness, and equilibrium trajectory—based on real-time estimations of the user's intent and direction of motion. The primary goal is to minimize the energy expenditure of the coupled human–robot system while maintaining system passivity. To address uncertainties in human behavior and noisy observations, the controller employs Bayesian optimization combined with a Gaussian process. To validate the proposed approach, human experiments are conducted using a standard robotic arm manipulator. The results demonstrate that the controller eliminates the need for manual parameter tuning, a process that is typically time-consuming. A comparative analysis against two variable impedance controllers without user-adaptive parameter adjustments reveal significant benefits, with the controller improving combined performance metrics—such as accuracy, speed, user effort, and smoothness—by over 13%. Notably, all participants in the study preferred the optimized controller over the alternatives. These findings highlight the effectiveness of the biomechanics-based, user-adaptive variable impedance control approach and its potential to enhance physical human–robot interaction in various applications that involve repetitive or continuous motion.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"7 2","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400333","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143423674","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}

引用次数: 0

Game Theoretic Non-cooperative Dynamic Target Tracking for Directional Sensing-Enabled Unmanned Aerial Vehicles 支持定向传感的无人飞行器的博弈论非合作动态目标跟踪

IF 6.8

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-04 DOI: 10.1002/aisy.202300725

Peng Yi, Ge Jin, Wenyuan Wang

{"title":"Game Theoretic Non-cooperative Dynamic Target Tracking for Directional Sensing-Enabled Unmanned Aerial Vehicles","authors":"Peng Yi, Ge Jin, Wenyuan Wang","doi":"10.1002/aisy.202300725","DOIUrl":"https://doi.org/10.1002/aisy.202300725","url":null,"abstract":"In this article, a game theoretic non-cooperative dynamic target tracking algorithm that empowers defensive unmanned aerial vehicles (UAVs), with directional sensing capabilities to track and collect information on intrusive UAVs, is proposed. Specifically, defenders aim to maximize the collection of identity information from intruders possessing anti-tracking and evading capabilities, while simultaneously preventing their entry into protected areas. Game theory is employed to determine the optimal confrontation paths for defenders against the intruders. The probability perception model is utilized for evaluating the dynamic target tracking capability and designing a tracking merit function to assess tracking performance, taking into account both the target's position and the perception relative angle. Furthermore, considering the dynamic interactive behaviors between intruders and defenders, the iterative linear quadratic game (ILQG) algorithm is employed to solve the Nash equilibrium of the non-cooperative target tracking game. Through simulation experiments, the effectiveness of the proposed algorithm in accomplishing multi-agent dynamic target tracking tasks is demonstrated and the performance of the algorithm under varying parameters in the intruder's cost function is evaluated, which represent different intrusion intentions.","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":"6 10","pages":""},"PeriodicalIF":6.8,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202300725","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142443573","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}

引用次数: 0