Safe flight corridor constrained sequential convex programming for efficient trajectory generation of fixed-wing UAVs

Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.

Second Note on the Definition of S₁-Convexity

In this note, we discuss the definition of the S1-convexity Phenomenon. We first make use of some results we have attained for?? in the past, such as those contained in [1], to refine the definition of the phenomenon. We then observe that easy counter-examples to the claim extends K0 are found. Finally, we make use of one theorem from [2] and a new theorem that appears to be a supplement to that one to infer that? does not properly extend K0 in both its original and its revised version.

First Note on the Definition of S2-Convexity

In this short, but fundamental, note, we start progressing towards a mathematically sound definition of the real functional classes

THE FEKETE-SZEG PROBLEM FOR CLOSE-TO-CONVEX FUNCTIONS WITH RESPECT TO THE KOEBE FUNCTION

An analytic function f in the unit disk D ：= {z ∈ C ： ｜z｜ 〈 1}, standardly normalized, is called close-to-convex with respect to the Koebe function k（z） ：= z/（1-z）2, z ∈ D, if there exists δ ∈ （-π/2,π/2） such that Re {eiδ（1-z）2f′（z）} 〉 0, z ∈ D. For the class C（k） of all close-to-convex functions with respect to k, related to the class of functions convex in the positive direction of the imaginary axis, the Fekete-Szego problem is studied.

SHARP ESTIMATES OF ALL HOMOGENEOUS EXPANSIONS FOR A SUBCLASS OF QUASI-CONVEX MAPPINGS OF TYPE B AND ORDER α IN SEVERAL COMPLEX VARIABLES

In this article, first, the sharp estimates of all homogeneous expansions for a subclass of quasi-convex mappings of type B and order B on the unit ball in complex Ba- nach spaces are given. Second, the sharp estimates of all homogeneous expansions for the above generalized mappings on the unit polydisk in （in are also established. In particular, the sharp estimates of all homogeneous expansions for a subclass of quasi-convex mappings （include quasi-convex mappings of type A and quasi-convex mappings of type B） in several complex variables are get accordingly. Our results state that a weak version of the Bieber- bach conjecture for quasi-convex mappings of type B and order a in several complex variables is proved, and the derived conclusions are the generalization of the classical results in one complex variable.

CONVEXITY OF THE FREE BOUNDARY FOR AN AXISYMMETRIC INCOMPRESSIBLE IMPINGING JET

This paper is devoted to the study of the shape of the free boundary for a threedimensional axisymmetric incompressible impinging jet.To be more precise,we will show that the free boundary is convex to the fluid,provided that the uneven ground is concave to the fluid.

On the Application of Mixed Models of Probability and Convex Set for Time-Variant Reliability Analysis

In time-variant reliability problems,there are a lot of uncertain variables from different sources.Therefore,it is important to consider these uncertainties in engineering.In addition,time-variant reliability problems typically involve a complexmultilevel nested optimization problem,which can result in an enormous amount of computation.To this end,this paper studies the time-variant reliability evaluation of structures with stochastic and bounded uncertainties using a mixed probability and convex set model.In this method,the stochastic process of a limit-state function with mixed uncertain parameters is first discretized and then converted into a timeindependent reliability problem.Further,to solve the double nested optimization problem in hybrid reliability calculation,an efficient iterative scheme is designed in standard uncertainty space to determine the most probable point(MPP).The limit state function is linearized at these points,and an innovative random variable is defined to solve the equivalent static reliability analysis model.The effectiveness of the proposed method is verified by two benchmark numerical examples and a practical engineering problem.

General Lyapunov Stability and Its Application to Time-Varying Convex Optimization

In this article, a general Lyapunov stability theory of nonlinear systems is put forward and it contains asymptotic/finite-time/fast finite-time/fixed-time stability. Especially, a more accurate estimate of the settling-time function is exhibited for fixedtime stability, and it is still extraneous to the initial conditions.This can be applied to obtain less conservative convergence time of the practical systems without the information of the initial conditions. As an application, the given fixed-time stability theorem is used to resolve time-varying(TV) convex optimization problem.By the Newton's method, two classes of new dynamical systems are constructed to guarantee that the solution of the dynamic system can track to the optimal trajectory of the unconstrained and equality constrained TV convex optimization problems in fixed time, respectively. Without the exact knowledge of the time derivative of the cost function gradient, a fixed-time dynamical non-smooth system is established to overcome the issue of robust TV convex optimization. Two examples are provided to illustrate the effectiveness of the proposed TV convex optimization algorithms. Subsequently, the fixed-time stability theory is extended to the theories of predefined-time/practical predefined-time stability whose bound of convergence time can be arbitrarily given in advance, without tuning the system parameters. Under which, TV convex optimization problem is solved. The previous two examples are used to demonstrate the validity of the predefined-time TV convex optimization algorithms.

Relaxed Stability Criteria for Time-Delay Systems:A Novel Quadratic Function Convex Approximation Approach

This paper develops a quadratic function convex approximation approach to deal with the negative definite problem of the quadratic function induced by stability analysis of linear systems with time-varying delays.By introducing two adjustable parameters and two free variables,a novel convex function greater than or equal to the quadratic function is constructed,regardless of the sign of the coefficient in the quadratic term.The developed lemma can also be degenerated into the existing quadratic function negative-determination(QFND)lemma and relaxed QFND lemma respectively,by setting two adjustable parameters and two free variables as some particular values.Moreover,for a linear system with time-varying delays,a relaxed stability criterion is established via our developed lemma,together with the quivalent reciprocal combination technique and the Bessel-Legendre inequality.As a result,the conservatism can be reduced via the proposed approach in the context of constructing Lyapunov-Krasovskii functionals for the stability analysis of linear time-varying delay systems.Finally,the superiority of our results is illustrated through three numerical examples.

Accelerated Primal-Dual Projection Neurodynamic Approach With Time Scaling for Linear and Set Constrained Convex Optimization Problems

The Nesterov accelerated dynamical approach serves as an essential tool for addressing convex optimization problems with accelerated convergence rates.Most previous studies in this field have primarily concentrated on unconstrained smooth con-vex optimization problems.In this paper,on the basis of primal-dual dynamical approach,Nesterov accelerated dynamical approach,projection operator and directional gradient,we present two accelerated primal-dual projection neurodynamic approaches with time scaling to address convex optimization problems with smooth and nonsmooth objective functions subject to linear and set constraints,which consist of a second-order ODE(ordinary differential equation)or differential conclusion system for the primal variables and a first-order ODE for the dual vari-ables.By satisfying specific conditions for time scaling,we demonstrate that the proposed approaches have a faster conver-gence rate.This only requires assuming convexity of the objective function.We validate the effectiveness of our proposed two accel-erated primal-dual projection neurodynamic approaches through numerical experiments.

Distributed Stochastic Optimization with Compression for Non-Strongly Convex Objectives

We are investigating the distributed optimization problem,where a network of nodes works together to minimize a global objective that is a finite sum of their stored local functions.Since nodes exchange optimization parameters through the wireless network,large-scale training models can create communication bottlenecks,resulting in slower training times.To address this issue,CHOCO-SGD was proposed,which allows compressing information with arbitrary precision without reducing the convergence rate for strongly convex objective functions.Nevertheless,most convex functions are not strongly convex(such as logistic regression or Lasso),which raises the question of whether this algorithm can be applied to non-strongly convex functions.In this paper,we provide the first theoretical analysis of the convergence rate of CHOCO-SGD on non-strongly convex objectives.We derive a sufficient condition,which limits the fidelity of compression,to guarantee convergence.Moreover,our analysis demonstrates that within the fidelity threshold,this algorithm can significantly reduce transmission burden while maintaining the same convergence rate order as its no-compression equivalent.Numerical experiments further validate the theoretical findings by demonstrating that CHOCO-SGD improves communication efficiency and keeps the same convergence rate order simultaneously.And experiments also show that the algorithm fails to converge with low compression fidelity and in time-varying topologies.Overall,our study offers valuable insights into the potential applicability of CHOCO-SGD for non-strongly convex objectives.Additionally,we provide practical guidelines for researchers seeking to utilize this algorithm in real-world scenarios.

Monolithic Convex Limiting for Legendre-Gauss-Lobatto Discontinuous Galerkin Spectral-Element Methods

We extend the monolithic convex limiting(MCL)methodology to nodal discontinuous Galerkin spectral-element methods(DGSEMS).The use of Legendre-Gauss-Lobatto(LGL)quadrature endows collocated DGSEM space discretizations of nonlinear hyperbolic problems with properties that greatly simplify the design of invariant domain-preserving high-resolution schemes.Compared to many other continuous and discontinuous Galerkin method variants,a particular advantage of the LGL spectral operator is the availability of a natural decomposition into a compatible subcellflux discretization.Representing a highorder spatial semi-discretization in terms of intermediate states,we performflux limiting in a manner that keeps these states and the results of Runge-Kutta stages in convex invariant domains.In addition,local bounds may be imposed on scalar quantities of interest.In contrast to limiting approaches based on predictor-corrector algorithms,our MCL procedure for LGL-DGSEM yields nonlinearflux approximations that are independent of the time-step size and can be further modified to enforce entropy stability.To demonstrate the robustness of MCL/DGSEM schemes for the compressible Euler equations,we run simulations for challenging setups featuring strong shocks,steep density gradients,and vortex dominatedflows.

A function associated with spherically convex sets

This paper introduced a kind of functions associated with spherically convex sets and discussed their basic properties.Finally,it proved the spherical convexity/concavity of these functions in lower dimensional cases,which provides useful information for the essential characteristics of these functions determining spherically convex sets.The results obtained here are helpful in setting up a systematic spherical convexity theory.

ConGCNet:Convex geometric constructive neural network for Industrial Internet of Things

The intersection of the Industrial Internet of Things(IIoT)and artificial intelligence(AI)has garnered ever-increasing attention and research interest.Nevertheless,the dilemma between the strict resource-constrained nature of IIoT devices and the extensive resource demands of AI has not yet been fully addressed with a comprehensive solution.Taking advantage of the lightweight constructive neural network(LightGCNet)in developing fast learner models for IIoT,a convex geometric constructive neural network with a low-complexity control strategy,namely,ConGCNet,is proposed in this article via convex optimization and matrix theory,which enhances the convergence rate and reduces the computational consumption in comparison with LightGCNet.Firstly,a low-complexity control strategy is proposed to reduce the computational consumption during the hidden parameters training process.Secondly,a novel output weights evaluated method based on convex optimization is proposed to guarantee the convergence rate.Finally,the universal approximation property of ConGCNet is proved by the low-complexity control strategy and convex output weights evaluated method.Simulation results,including four benchmark datasets and the real-world ore grinding process,demonstrate that ConGCNet effectively reduces computational consumption in the modelling process and improves the model’s convergence rate.

Higher Order Strongly Biconvex Functions and Biequilibrium Problems

In this paper, we introduce and study some new classes of biconvex functions with respect to an arbitrary function and a bifunction, which are called the higher order strongly biconvex functions. These functions are nonconvex functions and include the biconvex function, convex functions, and k-convex as special cases. We study some properties of the higher order strongly biconvex functions. Several parallelogram laws for inner product spaces are obtained as novel applications of the higher order strongly biconvex affine functions. It is shown that the minimum of generalized biconvex functions on the k-biconvex sets can be characterized by a class of equilibrium problems, which is called the higher order strongly biequilibrium problems. Using the auxiliary technique involving the Bregman functions, several new inertial type methods for solving the higher order strongly biequilibrium problem are suggested and investigated. Convergence analysis of the proposed methods is considered under suitable conditions. Several important special cases are obtained as novel applications of the derived results. Some open problems are also suggested for future research.

ON A SUBCLASS OF CLOSE TO CONVEX FUNCTIONS

Let C＇（α,β） be the class of functions f（z） =analytic in D ={z： ｜z｜ 〈 1}, satisfying for some convex function g（z） with g（O） = g＇（O） - 1 =- 0 and for allz in D the condition zf＇（z）-1/g（z）/zf＇（z）/g（z）＋1-2α）｜ 〈β for some α β （0 ≤ α〈1,0 〈 β 〈 1）. A sharp coefficient estimate, distortion theorems and radius of convexity are determined for the class C＇（α ,β ）. The results extend the work of C. Selvaraj.

Inequalities for Tφ-convex functions

In this paper, the Tφ-convex functions were introduced as a generalizations of convex functions. Then the characteristics of the Tφ-convex functions were discussed. Furthermore, some new inequalities for the Tφ-convex functions were derived.

Several Problems about the Generalized Convexity

In this article,we will prove that,under the differential condition,the strict pseudo_convexity and Orgega_Rheinbold pseudo_convex are equivalent.What's more,we will discuss the relation between the r_convexity and the analog convexity.

Almost Fixed Points and Fixed Points of Upper [Lower] Semicontinuous Multimap on Locally G-convex Spaces

In this paper, we use the well known KKM type theorem for generalized convex spaces due to Park （Elements of the KKM theory for generalized convex spaces, Korean J. Comp. Appl. Math., 7（2000）, 1-28） to obtain an almost fixed point theorem for upper [resp., lower] semicontinuous multimaps in locally G-convex spaces, and then give a fixed point theorem for upper semicontinuous multimap with closed Γ-convex values.

A Class of Schur Convex Functions and Several Geometric Inequalities

Schur convexity, Schur geometrical convexity and Schur harmonic convexityof a class of symmetric functions are investigated. As consequences some knowninequalities are generalized. In addition, a class of geometric inequalities involvingn-dimensional simplex in n-dimensional Euclidean space En and several matrix inequalitiesare established to show the applications of our results.