Angle rigid multi-agent formations can simultaneously undergo translational,rotational,and scaling maneuvering,therefore combining the maneuvering capabilities of both distance and bearing rigid formations.However,man...Angle rigid multi-agent formations can simultaneously undergo translational,rotational,and scaling maneuvering,therefore combining the maneuvering capabilities of both distance and bearing rigid formations.However,maneuvering angle rigid formations in 2D or 3D with global convergence guarantees is shown to be a challenging problem in the existing literature even when relative position measurements are available.Motivated by angle-induced linear equations in 2D triangles and 3D tetrahedra,this paper aims to solve this challenging problem in both 2D and3D under a leader-follower framework.For the 2D case where the leaders have constant velocities,by using local relative position and velocity measurements,a formation maneuvering law is designed for the followers governed by double-integrator dynamics.When the leaders have time-varying velocities,a sliding mode formation maneuvering law is proposed by using the same measurements.For the 3D case,to establish an angle-induced linear equation for each tetrahedron,we assume that all the followers'coordinate frames share a common Z direction.Then,a formation maneuvering law is proposed for the followers to globally maneuver Z-weakly angle rigid formations in 3D.The extension to Lagrangian agent dynamics and the construction of the desired rigid formations by using the minimum number of angle constraints are also discussed.Simulation examples are provided to validate the effectiveness of the proposed algorithms.展开更多
Mangroves are woody plant communities in the intertidal zone of tropical and subtropical coasts that play an important role in these zones. The infrared wave band is one of the key bands in the remote sensing identifi...Mangroves are woody plant communities in the intertidal zone of tropical and subtropical coasts that play an important role in these zones. The infrared wave band is one of the key bands in the remote sensing identification of mangrove forest, and ALI（advanced land imagery） has a large number of infrared bands. Two angle indices were proposed based on liquid water absorption at band 5p and band 5 of EO-1 ALI, denoted as β1.25 and β1.65 respectively. A decision tree method was adopted to identify mangrove forest using remote sensing techniques for β1.25–β1.65 and NDVI（normalized difference vegetation index） for EO-1 ALI imagery acquired at Shenzhen Bay. The results showed that the reflectance of mangrove forests at band 5p and band 5 was significantly lower than that of terrestrial vegetation due to the characteristics of coastal wetlands of mangrove forests. This resulted in a greater β1.25–β1.65 value for mangrove forest than terrestrial vegetation. The decision tree method using β1.25–β1.65 and NDVI effectively identifies mangrove forest from other land cover categories. The misclassification and leakage rates were 4.29% and 5.11% respectively. ALI sensors with many infrared bands could play an important role in discriminating mangrove forest.展开更多
基金supported by National Natural Science Foundation of China(62173118)supported by the Ramon y Cajal(RYC2020-030090-I)from the Spanish Ministry of Science。
文摘Angle rigid multi-agent formations can simultaneously undergo translational,rotational,and scaling maneuvering,therefore combining the maneuvering capabilities of both distance and bearing rigid formations.However,maneuvering angle rigid formations in 2D or 3D with global convergence guarantees is shown to be a challenging problem in the existing literature even when relative position measurements are available.Motivated by angle-induced linear equations in 2D triangles and 3D tetrahedra,this paper aims to solve this challenging problem in both 2D and3D under a leader-follower framework.For the 2D case where the leaders have constant velocities,by using local relative position and velocity measurements,a formation maneuvering law is designed for the followers governed by double-integrator dynamics.When the leaders have time-varying velocities,a sliding mode formation maneuvering law is proposed by using the same measurements.For the 3D case,to establish an angle-induced linear equation for each tetrahedron,we assume that all the followers'coordinate frames share a common Z direction.Then,a formation maneuvering law is proposed for the followers to globally maneuver Z-weakly angle rigid formations in 3D.The extension to Lagrangian agent dynamics and the construction of the desired rigid formations by using the minimum number of angle constraints are also discussed.Simulation examples are provided to validate the effectiveness of the proposed algorithms.
基金National Natural Science Foundation of China(41201461)
文摘Mangroves are woody plant communities in the intertidal zone of tropical and subtropical coasts that play an important role in these zones. The infrared wave band is one of the key bands in the remote sensing identification of mangrove forest, and ALI（advanced land imagery） has a large number of infrared bands. Two angle indices were proposed based on liquid water absorption at band 5p and band 5 of EO-1 ALI, denoted as β1.25 and β1.65 respectively. A decision tree method was adopted to identify mangrove forest using remote sensing techniques for β1.25–β1.65 and NDVI（normalized difference vegetation index） for EO-1 ALI imagery acquired at Shenzhen Bay. The results showed that the reflectance of mangrove forests at band 5p and band 5 was significantly lower than that of terrestrial vegetation due to the characteristics of coastal wetlands of mangrove forests. This resulted in a greater β1.25–β1.65 value for mangrove forest than terrestrial vegetation. The decision tree method using β1.25–β1.65 and NDVI effectively identifies mangrove forest from other land cover categories. The misclassification and leakage rates were 4.29% and 5.11% respectively. ALI sensors with many infrared bands could play an important role in discriminating mangrove forest.
