Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells

This work proposes an online collaborative hunting strategy for multi-robot systems based on obstacle-avoiding Voronoi cells in a complex dynamic environment. This involves firstly designing the construction method using a support vector machine(SVM) based on the definition of buffered Voronoi cells(BVCs). Based on the safe collision-free region of the robots, the boundary weights between the robots and the obstacles are dynamically updated such that the robots are tangent to the buffered Voronoi safety areas without intersecting with the obstacles. Then, the robots are controlled to move within their own buffered Voronoi safety area to achieve collision-avoidance with other robots and obstacles. The next step involves proposing a hunting method that optimizes collaboration between the pursuers and evaders. Some hunting points are generated and distributed evenly around a circle. Next, the pursuers are assigned to match the optimal points based on the Hungarian algorithm.Then, a hunting controller is designed to improve the containment capability and minimize containment time based on collision risk. Finally, simulation results have demonstrated that the proposed cooperative hunting method is more competitive in terms of time and travel distance.

Trajectory compensation for multi-robot coordinated lifting system considering elastic catenary of the rope

The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。

Fascination For Planes Young Ghanaian pursues her aviation dream in China

Every morning at 7 o’clock,Rachael Amoah,a young woman from Ghana,prepares for a new day of challenges and innovations at a leading aerospace company in Shanghai’s Pudong New Area.In March last year,she completed her studies in the School of Aeronautics and Astronautics at Shanghai Jiao Tong University(SJTU),and fulfilled her ambition to work in this megalopolis.

Mabel's Love Pursuing and Acquiring from the Perspective of Politeness Theory

The Horse Dealer's Daughter gradually acquires her love in a tough and unbearable situation after a long dialogue with Doctor Fergusson.By analyzing the linguistic features between Doctor Fergusson and Mabel'dialogues from the perspective of politeness principle,one conception of which is that politeness is a social behavior in the contact of human beings,the strategies of Mabel's love pursuing and acquiring are gradually revealed.

Dynamic pursuing ecological model concerning the nitrogen cycle in the environment of Chinese mainland

The paper gives a special dynamic pursuing ecological model on the bio-geochemical cycle of nitrogen in the whole range 9.6 million square kilometers of Chinese mainland, basing on the reservoir-content and flux-rate of nitrogen and among the four spheres: atmosphere, pedosphere, biosphere, and hydrosphere, and the law of bio-geochemical cycle of nitrogen, the model predicted the size of reservoir capacities and fluxes of nitrogen in each sphere. Through tested and verified, the model was proven reasonable and reliable.

Dynamic Frontier-Led Swarming:Multi-Robot Repeated Coverage in Dynamic Environments

A common assumption of coverage path planning research is a static environment.Such environments require only a single visit to each area to achieve coverage.However,some real-world environments are characterised by the presence of unexpected,dynamic obstacles.They require areas to be revisited periodically to maintain an accurate coverage map,as well as reactive obstacle avoidance.This paper proposes a novel swarmbased control algorithm for multi-robot exploration and repeated coverage in environments with unknown,dynamic obstacles.The algorithm combines two elements:frontier-led swarming for driving exploration by a group of robots,and pheromone-based stigmergy for controlling repeated coverage while avoiding obstacles.We tested the performance of our approach on heterogeneous and homogeneous groups of mobile robots in different environments.We measure both repeated coverage performance and obstacle avoidance ability.Through a series of comparison experiments,we demonstrate that our proposed strategy has superior performance to recently presented multi-robot repeated coverage methodologies.

Pursuing Excellence

Yang Yinyu’s team has been devoted to producing such devices with meticulous attention to detail, improving their craftsmanship, and incessantly striving for the best.

Multi-Robot Privacy-Preserving Algorithms Based on Federated Learning:A Review

The robotics industry has seen rapid development in recent years due to the Corona Virus Disease 2019.With the development of sensors and smart devices,factories and enterprises have accumulated a large amount of data in their daily production,which creates extremely favorable conditions for robots to perform machine learning.However,in recent years,people’s awareness of data privacy has been increasing,leading to the inability to circulate data between different enterprises,resulting in the emergence of data silos.The emergence of federated learning provides a feasible solution to this problem,and the combination of federated learning and multi-robot systems can break down data silos and improve the overall performance of robots.However,as scholars have studied more deeply,they found that federated learning has very limited privacy protection.Therefore,how to protect data privacy from infringement remains an important issue.In this paper,we first give a brief introduction to the current development of multi-robot and federated learning;second,we review three aspects of privacy protection methods commonly used,privacy protection methods for multi-robot,and Other Problems Faced by Multi-robot Systems,focusing on method comparisons and challenges;and finally draw conclusions and predict possible future research directions.

Pursuing Beauty in Utopia: A Defence of The Picture of Dorian Gray

The Picture of Dorian Gray, Oscar Wilde's only novel, has created a great sensation after its publication. This article tries to justify the righteousness of Wilde's declamation—art for art's sake rather than for morality. Facing the dilemma of the coexistent Realism and Romanticism and restricted by the prevailed Puritan doctrine, Wilde chose to evade into the shelter of Utopia. In his Utopian world, there's no morality or immorality, there's only beauty. With his self-fashioning aestheticism, Oscar Wilde pursues beauty in his own Utopian world.

Wong Wen-hao:A Prominent Geologist Pursuing Politics

As a member of the last generation of xiucai秀才(one who passed the imperial examination at the county level)in the Qing dynasty,and as the first Chinese national to hold a Western doctoral degree in geology,Wong Wen-hao made significant advances in the theoretical study of China’s geological structure and metallogeny,especially while serving as long-term director of the Geological Survey.He established himself as the founder of modern Chinese geology and geography and a leader of the Republic of China’s scientific community,enjoying much international prestige along the way.In the 1930s,faced with an increasingly grave national crisis,Wong resorted to a career in politics,relinquishing his geological studies.During wartime,he served as the highest economic administrator in the Chinese government,committed to exploring every avenue for the advance of national industrialization.In the postwar years,Wong assumed the office of president of the Executive Yuan,and presided over the failed currency reform.After a stint of exile after the Communist Party of China came to power in 1949,Wong returned to China,though he was relegated to obscurity due to his association with the Nationalist regime.

Pursuing the Good, Ethics and Metaphysics in Plato's Republic

‘Pursuing the good’ is an old subject in both social history of ancient Greece and Greek philosophy studies. There is hardly anything new when we talk about virtue or morality in the time of Plato and Aristotle. In the area of Greek history, many books and articles on or relevant to

Pursuing Human Rights——A Fair Go for All

The theme of this human rights conference is "Human Rights: A Fair Go For All." It’s true that all people wish to enjoy human rights, especially those who lack or are deprived of human rights. The Chinese peopie used to have no human rights at all. They paid a most terrifying price through bloodshed and sacrifices to win their rights today. Therefore, the Chinese people attach great importance to and very much treasure human rights, and they also harbor great sympathy for those who still lack human rights. In today’s world,

Pursuing Independent,Just,Prompt and Efficient ForeignRelated Arbitration—Interview with CIETAC Vice-Chairman Li Yong

ＰｕｒｓｕｉｎｇＩｎｄｅｐｅｎｄｅｎｔ，Ｊｕｓｔ，ＰｒｏｍｐｔａｎｄＥｆｉｃｉｅｎｔＦｏｒｅｉｇｎＲｅｌａｔｅｄＡｒｂｉｔｒａｔｉｏｎ—ＩｎｔｅｒｖｉｅｗｗｉｔｈＣＩＥＴＡＣＶｉｃｅＣｈａｉｒｍａｎＬｉＹｏｎｇＴｈｅＣｈｉｎａＩｎｔｅｒｎａｔｉｏ...

义务教育语文统编教材修订的整体思路与主要做法

2024年9月,新修订的义务教育语文统编教材起始年级投入使用。教材修订仍保留了原有教材的内容特色,以党的二十大精神为指引,适应《义务教育语文课程标准(2022年版)》的新要求,实现“稳中求进”的完善提升。本次教材修订,课文调整主要对“三种文化”进行充实提升,教材单元和栏目进行了微调,整体关注核心素养的培养与知识能力点的落实,依然强调读书的重要性。教师教学要遵循课标精神,尊重教学实际,用好新修订的义务教育语文统编教材。

新时代中国反腐败境外追逃的法律机制发展路径研究

习近平总书记在党的二十大报告中提出“深化反腐败国际合作,一体构建追逃防逃追赃机制”。在习近平新时代中国特色社会主义思想指导下,我国反腐败境外追逃法律机制逐步完善。但从境外追逃执法和司法实践看,境外追逃中常规适用的引渡措施仍面临瓶颈问题,缺席审判程序的追逃功能有限,境外追逃量刑承诺的法治化程度有待提升,境外羁押期限的刑期折抵问题有待明确。为促进追逃防逃追赃机制的一体构建,应拓宽引渡措施的适用渠道,以制度创新破解缺席审判适用难点,促进境外追逃中量刑承诺法治化发展,明确境外羁押期限的刑期折抵情形,进而促进境外追逃工作高质量发展。

韶文化融入高校思想政治教育的现实意义和实现路径

韶文化作为中华优秀传统文化,具有“源、流、交、融”的内涵,包括红色文化、韶乐文化、家风文化、名人文化、工矿文化等文化内容,其精神特质为包容和谐、耕读传家、尽善尽美。韶文化融入高校思想政治教育对于韶文化、高校思想政治教育、大学生的发展均有现实意义,可以通过建设韶文化校园网站、挖掘韶文化教学资源、拓宽韶文化教学阵地,同时利用现代科技丰富教学,高校、政府、媒体合力育人的具体路径来实现韶文化融入高校思想政治教育。

闻道、载道与近代中国的由器变道

近代中国最根本的一个变化,就是王国维所说的“道出于二”。这个转变可从道器关系来考察。尽管历代主张道器不分的人都特别强调道不离器,可是起决定作用的还是形而上的道。到近代则反过来了,实际是器的胜负决定了道的优劣。道器关系的颠倒,外来冲击固然是根本性的因素,却也不无内在的发展理路。从古代侧重践履的闻道,到清代章学诚提出的道因器而显的观念,以及他反复论证的多种即器闻道的取向,在思想上成为后来变化的预备,揭示了一条认识近代道器颠覆何以发生的内在理路。

楚辞序跋的世俗化倾向

随着明代商品经济的发展、市民阶层社会地位的提高、思想领域中个体价值的觉醒,文艺呈现出世俗化的倾向,而始终沿着雅正方向发展的楚辞序跋也卷入了世俗化的潮流中。序跋创作的主体走出了雅文化的圈层,官员成为楚辞序跋世俗化的推动者,商人、刻工也开始创作序跋。屈原形象中蕴含的“忠君爱国”的群体观念逐渐淡化,“忧生愤世”的个体意识得以凸显,序跋作者以失意之真性情重塑屈原,褪去他身上神圣的光环。在“好名”之风的影响下,序跋作者通过书籍出版实现了“立言”的理想,有的作者在序跋中夸大家族和自己的成就,更有甚者将他人成果据为己有。

以进促稳巩固外资基本盘:意义、挑战与发力方向

当前国内外经济环境深刻变化,巩固外资基本盘不仅可以继续发挥外商投资在我国的积极作用,助力国民经济企稳向好,而且有助于我国在制度竞争中占据优势、加快构建开放型经济体制、维护世界制造中心地位、构建新发展格局、抓住新一轮产业革命契机。巩固外商投资基本盘,需要处理好吸收利用外资“稳”与“进”的关系,以进促稳,扩大高水平对外开放,建设国际一流营商环境,着力打造“投资中国”品牌,提升外商投资质量和水平。