Quantum error correction is a crucial technology for realizing quantum computers.These computers achieve faulttolerant quantum computing by detecting and correcting errors using decoding algorithms.Quantum error corre...Quantum error correction is a crucial technology for realizing quantum computers.These computers achieve faulttolerant quantum computing by detecting and correcting errors using decoding algorithms.Quantum error correction using neural network-based machine learning methods is a promising approach that is adapted to physical systems without the need to build noise models.In this paper,we use a distributed decoding strategy,which effectively alleviates the problem of exponential growth of the training set required for neural networks as the code distance of quantum error-correcting codes increases.Our decoding algorithm is based on renormalization group decoding and recurrent neural network decoder.The recurrent neural network is trained through the ResNet architecture to improve its decoding accuracy.Then we test the decoding performance of our distributed strategy decoder,recurrent neural network decoder,and the classic minimum weight perfect matching(MWPM)decoder for rotated surface codes with different code distances under the circuit noise model,the thresholds of these three decoders are about 0.0052,0.0051,and 0.0049,respectively.Our results demonstrate that the distributed strategy decoder outperforms the other two decoders,achieving approximately a 5%improvement in decoding efficiency compared to the MWPM decoder and approximately a 2%improvement compared to the recurrent neural network decoder.展开更多
In this study,a novel residential virtual power plant(RVPP)scheduling method that leverages a gate recurrent unit(GRU)-integrated deep reinforcement learning(DRL)algorithm is proposed.In the proposed scheme,the GRU-in...In this study,a novel residential virtual power plant(RVPP)scheduling method that leverages a gate recurrent unit(GRU)-integrated deep reinforcement learning(DRL)algorithm is proposed.In the proposed scheme,the GRU-integrated DRL algorithm guides the RVPP to participate effectively in both the day-ahead and real-time markets,lowering the electricity purchase costs and consumption risks for end-users.The Lagrangian relaxation technique is introduced to transform the constrained Markov decision process(CMDP)into an unconstrained optimization problem,which guarantees that the constraints are strictly satisfied without determining the penalty coefficients.Furthermore,to enhance the scalability of the constrained soft actor-critic(CSAC)-based RVPP scheduling approach,a fully distributed scheduling architecture was designed to enable plug-and-play in the residential distributed energy resources(RDER).Case studies performed on the constructed RVPP scenario validated the performance of the proposed methodology in enhancing the responsiveness of the RDER to power tariffs,balancing the supply and demand of the power grid,and ensuring customer comfort.展开更多
The optimized strategy made a comprehensive consideration of resources, technology, market orientation, production scale, industry basis and layout based on the principle of crop security and farmers’ income increasi...The optimized strategy made a comprehensive consideration of resources, technology, market orientation, production scale, industry basis and layout based on the principle of crop security and farmers’ income increasing, and determined the general planning on layout and structure optimization of future crop production ar-eas, with present crop production, market outlook, future industry development, con-cluding crop production characteristics of the 4 crop regions, and proposing function orientation and highlights.展开更多
A torque distribution strategy was designed by using fuzzy logic to realize the optimal control. The vehicle load zones were dynamically divided into several zones by several torque lines to indicate the drivers deman...A torque distribution strategy was designed by using fuzzy logic to realize the optimal control. The vehicle load zones were dynamically divided into several zones by several torque lines to indicate the drivers demand and the high or low efficient operating areas of the diesel engine. The fuzzy logic controller with trapezoid membership function and Mamdani rule reference mechanism was utilized. There are over 100 rules used in this fuzzy-based torque distribution strategy which are sorted into four rule-bases. The fuel economy and acceleration tests were designed to test and validate the integrated starter/generator (ISG) bus perfor-mance using fuzzy-based torque distribution strategy. The fuel economy is improved 7.7% compared with the rule-based strategy. Finally the road test results reveal that there is about 15% improvement of fuel economy. And the 0-50 km/h acceleration time is 9.5% shorter than the original bus.展开更多
According to this paper, the dragon-shape strategy is the optimized option of China's future strategy with respect to the geographic distribution of regional economy.
Phytoplankton and environment factors were investigated in 2015 and phytoplankton functional groups were used to understand their temporal and spatial distribution and their driving factors in Wanfeng Reservoir. Seven...Phytoplankton and environment factors were investigated in 2015 and phytoplankton functional groups were used to understand their temporal and spatial distribution and their driving factors in Wanfeng Reservoir. Seventeen functional groups(B, D, E, F, G, J, Lo, MP, P, S1, T, W1, W2, X1, X2, Xph, Y) were identified based on 34 species. The dominant groups were: J/B/P/D in dry season, X1/J/Xph/G/T in normal season and J in flood season. Phytoplankton abundance ranged from 5.33×10~4 cells/L to 3.65×10~7 cells/L, with the highest value occurring in flood season and lowest in dry season. The vertical profi le of dominant groups showed little differentiation except for P, which dominated surface layers over 20 m as a result of mixing water masses and higher transparency during dry season. However, the surface waters presented higher values of phytoplankton abundance than other layers, possibly because of greater irradiance. The significant explaining variables and their ability to describe the spatial distribution of the phytoplankton community in RDA diff ered seasonally as follows: dry season, NH4-N, NO_3-N, NO_2-N, TN:TP ratio and transparency(SD); normal season, temperature(WT), water depth, TN, NH4-N and NO_3-N; flood season, WT, water depth, NO_3-N and NO_2-N. Furthermore, nitrogen, water temperature, SD and water depth were significant variables explaining the variance of phytoplankton communities when datasets included all samples. The results indicated that water physical conditions and hydrology were important in phytoplankton community dynamics, and nitrogen was more important than phosphorus in modifying phytoplankton communities. Seasonal differences in the relationship between the environment and phytoplankton community should be considered in water quality management.展开更多
In this paper, a distributed control strategy is proposed to make a complex dynamical network achieve cluster synchronization, which means that nodes in the same group achieve the same synchronization state, while nod...In this paper, a distributed control strategy is proposed to make a complex dynamical network achieve cluster synchronization, which means that nodes in the same group achieve the same synchronization state, while nodes in different groups achieve different synchronization states. The local and global stability of the cluster synchronization state are analyzed. Moreover, simulation results verify the effectiveness of the new approach.展开更多
In this paper, a distributed muting strategy based on simplified topology (DRBST) was proposed for LEO satellite networks. The topology of LEO satellite networks was simplified aiming at minimizing intersatellite li...In this paper, a distributed muting strategy based on simplified topology (DRBST) was proposed for LEO satellite networks. The topology of LEO satellite networks was simplified aiming at minimizing intersatellite links handover number. To optimize the route based on the simplified topology, we considered not only the transmission delay but also the queuing delay and the processing delay, which were analyzed using Markov chain and determined using a novel methodology. The DRBST algorithm was simulated in a LEO satellite networks model built using OPNET. The simulation results demonstrate that the low complexity DRBST algorithm can guarantee end-to-end delay bound. Moreover, the muting protocol cost is much less than traditional algorithms.展开更多
The hybrid flow shop scheduling problem with unrelated parallel machine is a typical NP-hard combinatorial optimization problem, and it exists widely in chemical, manufacturing and pharmaceutical industry. In this wor...The hybrid flow shop scheduling problem with unrelated parallel machine is a typical NP-hard combinatorial optimization problem, and it exists widely in chemical, manufacturing and pharmaceutical industry. In this work, a novel mathematic model for the hybrid flow shop scheduling problem with unrelated parallel machine(HFSPUPM) was proposed. Additionally, an effective hybrid estimation of distribution algorithm was proposed to solve the HFSPUPM, taking advantage of the features in the mathematic model. In the optimization algorithm, a new individual representation method was adopted. The(EDA) structure was used for global search while the teaching learning based optimization(TLBO) strategy was used for local search. Based on the structure of the HFSPUPM, this work presents a series of discrete operations. Simulation results show the effectiveness of the proposed hybrid algorithm compared with other algorithms.展开更多
The aim of this paper is to study and analyse the intemationalisation strategies chosen by the main luxury-goods players in the Chinese market, demonstrating the business intemationalisation processes. The research qu...The aim of this paper is to study and analyse the intemationalisation strategies chosen by the main luxury-goods players in the Chinese market, demonstrating the business intemationalisation processes. The research questions are: ttow luxury companies have developed distribution strategies in the Chinese markets? What are the main formats of distribution for the Chinese markets? Are there any differences in the internationalization process between the main players of the luxury markets and the smaller ones? The methodology is based on the analysis on multiple-case ~.nalysis on a sample of luxury-goods companies and identifies and compares the different strategies used by the players analysed. The research process starts from identifying and selecting the most well-known companies operating in the luxury branded sector, which have established a presence in the Chinese market with their own brand, collecting secondary data for the selected companies (website, corporate profile, articles on websites and in trade magazines and interviews with the management), analysing the data collected and interpreting the main results to have emerged from the research. The main findings and conclusions are that the route to development in the Chinese market taken by the players in the luxury-goods sector, historically undertaken by delocalising production operations, has in recent years begun to accelerate with new forms in play, principally linked to distribution. The Chinese market tbr luxury brands is ever more an outlet market rather than a production hub. The ability to create brand awareness will become a key factor for successful consolidation of the competitive position in this market, an operation that can only be performed through distribution. Moreover, Chinese high-end consumers are becoming ever more demanding, seeking out an ever more sophisticated shopping experience. Just as happening in other markets, opening directly operated stores is a strategic choice for reaching and convincing end-consumers, since these stores become their point of contact with the brand. Creating a shopping experience plays a central role in communicating the values, heritage and spirit of the brand to consumers. Global luxury-goods enterprises are multiplying their investment in opening new sales outlets, using different formats to create distribution system that is predominantly selective but that ensures adequate distribution coverage. The development of direct distribution channels, alongside the more traditional forms of indirect presence, is accompanied by the more innovative players developing the digital channel to accompany and support their retailing activities.展开更多
In recent years, the disparity of Chinese people's income has been unsteadily expanding. The reasons lie in many aspects, among which there are mainly income disparity between the rural and the urban and the disparit...In recent years, the disparity of Chinese people's income has been unsteadily expanding. The reasons lie in many aspects, among which there are mainly income disparity between the rural and the urban and the disparity between regions, including the disparity between people both in the city and in the countryside. Therefore the corresponding strategies should be put into effect .展开更多
Simultaneous localization and mapping(SLAM)is widely used in many robot applications to acquire the unknown environment's map and the robots location.Graph-based SLAM is demonstrated to be effective in large-scale...Simultaneous localization and mapping(SLAM)is widely used in many robot applications to acquire the unknown environment's map and the robots location.Graph-based SLAM is demonstrated to be effective in large-scale scenarios,and it intuitively performs the SLAM as a pose graph.But because of the high data overlap rate,traditional graph-based SLAM is not efficient in some respects,such as real time performance and memory usage.To reduce1 data overlap rate,a graph-based SLAM with distributed submap strategy(DSS)is presented.In its front-end,submap based scan matching is processed and loop closing detection is conducted.Moreover in its back-end,pose graph is updated for global optimization and submap merging.From a series of experiments,it is demonstrated that graph-based SLAM with DSS reduces 51.79%data overlap rate,decreases 39.70%runtime and 24.60%memory usage.The advantages over other low overlap rate method is also proved in runtime,memory usage,accuracy and robustness performance.展开更多
We investigate a distributed game strategy for unmanned aerial vehicle(UAV)formations with external disturbances and obstacles.The strategy is based on a distributed model predictive control(MPC)framework and Levy fli...We investigate a distributed game strategy for unmanned aerial vehicle(UAV)formations with external disturbances and obstacles.The strategy is based on a distributed model predictive control(MPC)framework and Levy flight based pigeon inspired optimization(LFPIO).First,we propose a non-singular fast terminal sliding mode observer(NFTSMO)to estimate the influence of a disturbance,and prove that the observer converges in fixed time using a Lyapunov function.Second,we design an obstacle avoidance strategy based on topology reconstruction,by which the UAV can save energy and safely pass obstacles.Third,we establish a distributed MPC framework where each UAV exchanges messages only with its neighbors.Further,the cost function of each UAV is designed,by which the UAV formation problem is transformed into a game problem.Finally,we develop LFPIO and use it to solve the Nash equilibrium.Numerical simulations are conducted,and the efficiency of LFPIO based distributed MPC is verified through comparative simulations.展开更多
Distributed consensus problems for multiple Euler-Lagrange systems are addressed on the basis of event-triggered information in this study. Distributed consensus protocols are first designed in terms of two event-trig...Distributed consensus problems for multiple Euler-Lagrange systems are addressed on the basis of event-triggered information in this study. Distributed consensus protocols are first designed in terms of two event-triggered scenarios: a decentralized strategy and a distributed strategy. Sufficient conditions that guarantee the event-triggered consensus for multiple Euler-Lagrange systems are then presented, with the associated advantages of reducing controller update times. It is shown that the Zeno behavior of triggering time sequences is excluded for both strategies. Finally, multiple Euler-Lagrange systems that consist of six two-link manipulators are considered to illustrate the effectiveness of the proposed theoretical algorithms.展开更多
Appropriate traffic coordination at road intersections plays a crucial part in modern intelligent transportation systems.In this paper,we first try to extend the traditional single collision-set coordination strategy ...Appropriate traffic coordination at road intersections plays a crucial part in modern intelligent transportation systems.In this paper,we first try to extend the traditional single collision-set coordination strategy to multiple-collision-set strategies,by which the traffic throughput can be significantly improved.Unlike the existing centralized coordination methods,two low complexity coordination methods are proposed based on the multi-agents Q-learning frameworks.Numerical results show that,the proposed high throughput strategies are able to provide safe and efficient traffic coordination.Meanwhile,since only local information is required,the coordination complexity can be reduced,which is attractive in highly dynamic real time scenarios.展开更多
Purpose–The purpose of this paper is to propose distributed learning-based three different metaheuristic algorithms for the identification of nonlinear systems.The proposed algorithms are experimented in this study t...Purpose–The purpose of this paper is to propose distributed learning-based three different metaheuristic algorithms for the identification of nonlinear systems.The proposed algorithms are experimented in this study to address problems for which input data are available at different geographic locations.In addition,the models are tested for nonlinear systems with different noise conditions.In a nutshell,the suggested model aims to handle voluminous data with low communication overhead compared to traditional centralized processing methodologies.Design/methodology/approach–Population-based evolutionary algorithms such as genetic algorithm(GA),particle swarm optimization(PSO)and cat swarm optimization(CSO)are implemented in a distributed form to address the system identification problem having distributed input data.Out of different distributed approaches mentioned in the literature,the study has considered incremental and diffusion strategies.Findings–Performances of the proposed distributed learning-based algorithms are compared for different noise conditions.The experimental results indicate that CSO performs better compared to GA and PSO at all noise strengths with respect to accuracy and error convergence rate,but incremental CSO is slightly superior to diffusion CSO.Originality/value–This paper employs evolutionary algorithms using distributed learning strategies and applies these algorithms for the identification of unknown systems.Very few existing studies have been reported in which these distributed learning strategies are experimented for the parameter estimation task.展开更多
基金Project supported by Natural Science Foundation of Shandong Province,China (Grant Nos.ZR2021MF049,ZR2022LLZ012,and ZR2021LLZ001)。
文摘Quantum error correction is a crucial technology for realizing quantum computers.These computers achieve faulttolerant quantum computing by detecting and correcting errors using decoding algorithms.Quantum error correction using neural network-based machine learning methods is a promising approach that is adapted to physical systems without the need to build noise models.In this paper,we use a distributed decoding strategy,which effectively alleviates the problem of exponential growth of the training set required for neural networks as the code distance of quantum error-correcting codes increases.Our decoding algorithm is based on renormalization group decoding and recurrent neural network decoder.The recurrent neural network is trained through the ResNet architecture to improve its decoding accuracy.Then we test the decoding performance of our distributed strategy decoder,recurrent neural network decoder,and the classic minimum weight perfect matching(MWPM)decoder for rotated surface codes with different code distances under the circuit noise model,the thresholds of these three decoders are about 0.0052,0.0051,and 0.0049,respectively.Our results demonstrate that the distributed strategy decoder outperforms the other two decoders,achieving approximately a 5%improvement in decoding efficiency compared to the MWPM decoder and approximately a 2%improvement compared to the recurrent neural network decoder.
基金supported by the Sichuan Science and Technology Program(grant number 2022YFG0123).
文摘In this study,a novel residential virtual power plant(RVPP)scheduling method that leverages a gate recurrent unit(GRU)-integrated deep reinforcement learning(DRL)algorithm is proposed.In the proposed scheme,the GRU-integrated DRL algorithm guides the RVPP to participate effectively in both the day-ahead and real-time markets,lowering the electricity purchase costs and consumption risks for end-users.The Lagrangian relaxation technique is introduced to transform the constrained Markov decision process(CMDP)into an unconstrained optimization problem,which guarantees that the constraints are strictly satisfied without determining the penalty coefficients.Furthermore,to enhance the scalability of the constrained soft actor-critic(CSAC)-based RVPP scheduling approach,a fully distributed scheduling architecture was designed to enable plug-and-play in the residential distributed energy resources(RDER).Case studies performed on the constructed RVPP scenario validated the performance of the proposed methodology in enhancing the responsiveness of the RDER to power tariffs,balancing the supply and demand of the power grid,and ensuring customer comfort.
基金Supported by S&T Innovation Foundation of Hunan Academy of Agricultural Sciences~~
文摘The optimized strategy made a comprehensive consideration of resources, technology, market orientation, production scale, industry basis and layout based on the principle of crop security and farmers’ income increasing, and determined the general planning on layout and structure optimization of future crop production ar-eas, with present crop production, market outlook, future industry development, con-cluding crop production characteristics of the 4 crop regions, and proposing function orientation and highlights.
文摘A torque distribution strategy was designed by using fuzzy logic to realize the optimal control. The vehicle load zones were dynamically divided into several zones by several torque lines to indicate the drivers demand and the high or low efficient operating areas of the diesel engine. The fuzzy logic controller with trapezoid membership function and Mamdani rule reference mechanism was utilized. There are over 100 rules used in this fuzzy-based torque distribution strategy which are sorted into four rule-bases. The fuel economy and acceleration tests were designed to test and validate the integrated starter/generator (ISG) bus perfor-mance using fuzzy-based torque distribution strategy. The fuel economy is improved 7.7% compared with the rule-based strategy. Finally the road test results reveal that there is about 15% improvement of fuel economy. And the 0-50 km/h acceleration time is 9.5% shorter than the original bus.
文摘According to this paper, the dragon-shape strategy is the optimized option of China's future strategy with respect to the geographic distribution of regional economy.
基金Supported by the Department of Science and Technology of Guizhou Province(Nos.[2014]7001,[2015]2001,[2015]10)the Water Resources Department of Guizhou Province(No.KT201401)
文摘Phytoplankton and environment factors were investigated in 2015 and phytoplankton functional groups were used to understand their temporal and spatial distribution and their driving factors in Wanfeng Reservoir. Seventeen functional groups(B, D, E, F, G, J, Lo, MP, P, S1, T, W1, W2, X1, X2, Xph, Y) were identified based on 34 species. The dominant groups were: J/B/P/D in dry season, X1/J/Xph/G/T in normal season and J in flood season. Phytoplankton abundance ranged from 5.33×10~4 cells/L to 3.65×10~7 cells/L, with the highest value occurring in flood season and lowest in dry season. The vertical profi le of dominant groups showed little differentiation except for P, which dominated surface layers over 20 m as a result of mixing water masses and higher transparency during dry season. However, the surface waters presented higher values of phytoplankton abundance than other layers, possibly because of greater irradiance. The significant explaining variables and their ability to describe the spatial distribution of the phytoplankton community in RDA diff ered seasonally as follows: dry season, NH4-N, NO_3-N, NO_2-N, TN:TP ratio and transparency(SD); normal season, temperature(WT), water depth, TN, NH4-N and NO_3-N; flood season, WT, water depth, NO_3-N and NO_2-N. Furthermore, nitrogen, water temperature, SD and water depth were significant variables explaining the variance of phytoplankton communities when datasets included all samples. The results indicated that water physical conditions and hydrology were important in phytoplankton community dynamics, and nitrogen was more important than phosphorus in modifying phytoplankton communities. Seasonal differences in the relationship between the environment and phytoplankton community should be considered in water quality management.
基金supported by the Natural Science Foundation of Hohai University under Grant No.2008429211
文摘In this paper, a distributed control strategy is proposed to make a complex dynamical network achieve cluster synchronization, which means that nodes in the same group achieve the same synchronization state, while nodes in different groups achieve different synchronization states. The local and global stability of the cluster synchronization state are analyzed. Moreover, simulation results verify the effectiveness of the new approach.
基金Supported by the National Science Foundation of China (No. 60873219).
文摘In this paper, a distributed muting strategy based on simplified topology (DRBST) was proposed for LEO satellite networks. The topology of LEO satellite networks was simplified aiming at minimizing intersatellite links handover number. To optimize the route based on the simplified topology, we considered not only the transmission delay but also the queuing delay and the processing delay, which were analyzed using Markov chain and determined using a novel methodology. The DRBST algorithm was simulated in a LEO satellite networks model built using OPNET. The simulation results demonstrate that the low complexity DRBST algorithm can guarantee end-to-end delay bound. Moreover, the muting protocol cost is much less than traditional algorithms.
基金Projects(61573144,61773165,61673175,61174040)supported by the National Natural Science Foundation of ChinaProject(222201717006)supported by the Fundamental Research Funds for the Central Universities,China
文摘The hybrid flow shop scheduling problem with unrelated parallel machine is a typical NP-hard combinatorial optimization problem, and it exists widely in chemical, manufacturing and pharmaceutical industry. In this work, a novel mathematic model for the hybrid flow shop scheduling problem with unrelated parallel machine(HFSPUPM) was proposed. Additionally, an effective hybrid estimation of distribution algorithm was proposed to solve the HFSPUPM, taking advantage of the features in the mathematic model. In the optimization algorithm, a new individual representation method was adopted. The(EDA) structure was used for global search while the teaching learning based optimization(TLBO) strategy was used for local search. Based on the structure of the HFSPUPM, this work presents a series of discrete operations. Simulation results show the effectiveness of the proposed hybrid algorithm compared with other algorithms.
文摘The aim of this paper is to study and analyse the intemationalisation strategies chosen by the main luxury-goods players in the Chinese market, demonstrating the business intemationalisation processes. The research questions are: ttow luxury companies have developed distribution strategies in the Chinese markets? What are the main formats of distribution for the Chinese markets? Are there any differences in the internationalization process between the main players of the luxury markets and the smaller ones? The methodology is based on the analysis on multiple-case ~.nalysis on a sample of luxury-goods companies and identifies and compares the different strategies used by the players analysed. The research process starts from identifying and selecting the most well-known companies operating in the luxury branded sector, which have established a presence in the Chinese market with their own brand, collecting secondary data for the selected companies (website, corporate profile, articles on websites and in trade magazines and interviews with the management), analysing the data collected and interpreting the main results to have emerged from the research. The main findings and conclusions are that the route to development in the Chinese market taken by the players in the luxury-goods sector, historically undertaken by delocalising production operations, has in recent years begun to accelerate with new forms in play, principally linked to distribution. The Chinese market tbr luxury brands is ever more an outlet market rather than a production hub. The ability to create brand awareness will become a key factor for successful consolidation of the competitive position in this market, an operation that can only be performed through distribution. Moreover, Chinese high-end consumers are becoming ever more demanding, seeking out an ever more sophisticated shopping experience. Just as happening in other markets, opening directly operated stores is a strategic choice for reaching and convincing end-consumers, since these stores become their point of contact with the brand. Creating a shopping experience plays a central role in communicating the values, heritage and spirit of the brand to consumers. Global luxury-goods enterprises are multiplying their investment in opening new sales outlets, using different formats to create distribution system that is predominantly selective but that ensures adequate distribution coverage. The development of direct distribution channels, alongside the more traditional forms of indirect presence, is accompanied by the more innovative players developing the digital channel to accompany and support their retailing activities.
文摘In recent years, the disparity of Chinese people's income has been unsteadily expanding. The reasons lie in many aspects, among which there are mainly income disparity between the rural and the urban and the disparity between regions, including the disparity between people both in the city and in the countryside. Therefore the corresponding strategies should be put into effect .
基金the Project Fund for Key Discipline of the Shanghai Municipal Education Commission(No.J50104)the Major State Basic Research Development Program of China(No.2017YFB0403500)。
文摘Simultaneous localization and mapping(SLAM)is widely used in many robot applications to acquire the unknown environment's map and the robots location.Graph-based SLAM is demonstrated to be effective in large-scale scenarios,and it intuitively performs the SLAM as a pose graph.But because of the high data overlap rate,traditional graph-based SLAM is not efficient in some respects,such as real time performance and memory usage.To reduce1 data overlap rate,a graph-based SLAM with distributed submap strategy(DSS)is presented.In its front-end,submap based scan matching is processed and loop closing detection is conducted.Moreover in its back-end,pose graph is updated for global optimization and submap merging.From a series of experiments,it is demonstrated that graph-based SLAM with DSS reduces 51.79%data overlap rate,decreases 39.70%runtime and 24.60%memory usage.The advantages over other low overlap rate method is also proved in runtime,memory usage,accuracy and robustness performance.
基金Project supported by the Science and Technology Innovation 2030 Key Project of“New Generation Artificial Intelligence,”China(No.2018AAA0100803)the National Natural Science Foundation of China(Nos.T2121003,U1913602,U20B2071,91948204,and U19B2033)。
文摘We investigate a distributed game strategy for unmanned aerial vehicle(UAV)formations with external disturbances and obstacles.The strategy is based on a distributed model predictive control(MPC)framework and Levy flight based pigeon inspired optimization(LFPIO).First,we propose a non-singular fast terminal sliding mode observer(NFTSMO)to estimate the influence of a disturbance,and prove that the observer converges in fixed time using a Lyapunov function.Second,we design an obstacle avoidance strategy based on topology reconstruction,by which the UAV can save energy and safely pass obstacles.Third,we establish a distributed MPC framework where each UAV exchanges messages only with its neighbors.Further,the cost function of each UAV is designed,by which the UAV formation problem is transformed into a game problem.Finally,we develop LFPIO and use it to solve the Nash equilibrium.Numerical simulations are conducted,and the efficiency of LFPIO based distributed MPC is verified through comparative simulations.
基金supported by the National Natural Science Foundation of China(Grant Nos.61225013&11332001)
文摘Distributed consensus problems for multiple Euler-Lagrange systems are addressed on the basis of event-triggered information in this study. Distributed consensus protocols are first designed in terms of two event-triggered scenarios: a decentralized strategy and a distributed strategy. Sufficient conditions that guarantee the event-triggered consensus for multiple Euler-Lagrange systems are then presented, with the associated advantages of reducing controller update times. It is shown that the Zeno behavior of triggering time sequences is excluded for both strategies. Finally, multiple Euler-Lagrange systems that consist of six two-link manipulators are considered to illustrate the effectiveness of the proposed theoretical algorithms.
基金supported by the National Natural Science Foundation of China(Nos.91638204 and 61771159)Guangdong Natural Science Foundation(No.2017A030313392)Shenzhen Fundamental Research Project(No.JCYJ20170811153639780).
文摘Appropriate traffic coordination at road intersections plays a crucial part in modern intelligent transportation systems.In this paper,we first try to extend the traditional single collision-set coordination strategy to multiple-collision-set strategies,by which the traffic throughput can be significantly improved.Unlike the existing centralized coordination methods,two low complexity coordination methods are proposed based on the multi-agents Q-learning frameworks.Numerical results show that,the proposed high throughput strategies are able to provide safe and efficient traffic coordination.Meanwhile,since only local information is required,the coordination complexity can be reduced,which is attractive in highly dynamic real time scenarios.
文摘Purpose–The purpose of this paper is to propose distributed learning-based three different metaheuristic algorithms for the identification of nonlinear systems.The proposed algorithms are experimented in this study to address problems for which input data are available at different geographic locations.In addition,the models are tested for nonlinear systems with different noise conditions.In a nutshell,the suggested model aims to handle voluminous data with low communication overhead compared to traditional centralized processing methodologies.Design/methodology/approach–Population-based evolutionary algorithms such as genetic algorithm(GA),particle swarm optimization(PSO)and cat swarm optimization(CSO)are implemented in a distributed form to address the system identification problem having distributed input data.Out of different distributed approaches mentioned in the literature,the study has considered incremental and diffusion strategies.Findings–Performances of the proposed distributed learning-based algorithms are compared for different noise conditions.The experimental results indicate that CSO performs better compared to GA and PSO at all noise strengths with respect to accuracy and error convergence rate,but incremental CSO is slightly superior to diffusion CSO.Originality/value–This paper employs evolutionary algorithms using distributed learning strategies and applies these algorithms for the identification of unknown systems.Very few existing studies have been reported in which these distributed learning strategies are experimented for the parameter estimation task.