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A-STC: auction-based spanning tree coverage algorithm for motion planning of cooperative robots

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 18-31页

作者： Guan-qiang GAO bin xin School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems

The multi-robot coverage motion planning(MCMP) problem in which every reachable area must be covered is common in multi-robot systems. To deal with the MCMP problem, we propose an efficient, complete, and off-line algorithm, named the "auction-based spanning tree coverage(A-STC)" algorithm. First, the configuration space is divided into mega cells whose size is twice the minimum coverage range of a robot. Based on connection relationships among mega cells, a graph structure can be obtained. A robot that circumnavigates a spanning tree of the graph can generate a coverage trajectory. Then, the proposed algorithm adopts an auction mechanism to construct one spanning tree for each robot. In this mechanism, an auctioneer robot chooses a suitable vertex of the graph as an auction item from neighboring vertexes of its spanning tree by heuristic rules. A bidder robot submits a proper bid to the auctioneer according to the auction vertexes' relationships with the spanning tree of the robot and the estimated length of its trajectory. The estimated length is calculated based on vertexes and edges in the spanning tree. The bidder with the highest bid is selected as a winner to reduce the makespan of the coverage task. After auction processes, acceptable coverage trajectories can be planned rapidly. Computational experiments validate the effectiveness of the proposed MCMP algorithm and the method for estimating trajectory lengths. The proposed algorithm is also compared with the state-of-the-art algorithms. The comparative results show that the A-STC algorithm has apparent advantages in terms of the running time and the makespan for large crowded configuration spaces.

关键词： Coverage motion planning Multi-robot system Auction algorithm Spanning tree coverage algorithm

Interactive multiobjective evolutionary algorithm based on decomposition and compression

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Science China(Information Sciences) 2021年第10期64卷 166-181页

作者： Lu CHEN bin xin Jie CHEN School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Many real-world optimization problems involve multiple conflicting objectives. Such problems are called multiobjective optimization problems(MOPs). Typically, MOPs have a set of so-called Pareto optimal solutions rather than one unique optimal solution. To assist the decision maker(DM) in finding his/her most preferred solution, we propose an interactive multiobjective evolutionary algorithm(MOEA)called iDMOEA-εC, which utilizes the DM’s preferences to compress the objective space directly and progressively for identifying the DM’s preferred region. The proposed algorithm employs a state-of-the-art decomposition-based MOEA called DMOEA-εC as the search engine to search for solutions. DMOEA-εC decomposes an MOP into a series of scalar constrained subproblems using a set of evenly distributed upper bound vectors to approximate the entire Pareto front. To guide the population toward only the DM’s preferred part on the Pareto front, an adaptive adjustment mechanism of the upper bound vectors and two-level feasibility rules are proposed and integrated into DMOEA-εC to control the spread of the population. To ease the DM’s burden, only a small set of representative solutions is presented in each interaction to the DM,who is expected to specify a preferred one from the set. Furthermore, the proposed algorithm includes a two-stage selection procedure, allowing to elicit the DM’s preferences as accurately as possible. To evaluate the performance of the proposed algorithm, it was compared with other interactive MOEAs in a series of experiments. The experimental results demonstrated the superiority of iDMOEA-εC over its competitors.

关键词： multiobjective optimization interactive decision making preference incorporation decomposition compression

An innovative integrated oxidation ditch with vertical circle(IODVC) for wastewater treatment

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Journal of Environmental Sciences 2004年第3期16卷 367-370页

作者： XIAShi-bin LIUJun-xin ResearchCenterforEco-EnvironmentalSciences ChineseAcademyofSciencesBeijing100085China

The oxidation ditch process is economic and efficient for wastewater treatment, but its application is limited in case where land is costly due to its large land area required. An innovative integrated oxidation ditch with vertical circle(IODVC) system was developed to treat domestic and industrial wastewater aiming to save land area. The new system consists of a single channel divided into two ditches(the top one and the bottom one by a plate), a brush, and an innovative integral clarifier. Different from the horizontal circle of the conventional oxidation ditch, the flow of IODVC system recycles from the top zone to the bottom zone in the vertical circle as the brush is running, and then the IODVC saved land area required by about 50% compared with a conventional oxidation ditch with an intrachannel clarifier. The innovative integral clarifier is effective for separation of liquid and solids, and is preferably positioned at the opposite end of the brush in the ditch. It does not affect the hydrodynamic characteristics of the mixed liquor in the ditch, and the sludge can automatically return to the down ditch without any pump. In this study, experiments of domestic and dye wastewater treatment were carried out in bench scale and in full scale, respectively. Results clearly showed that the IODVC efficiently removed pollutants in the wastewaters, i.e., the average of COD removals for domestic and dye wastewater treatment were 95% and 90%, respectively, and that the IODVC process may provide a cost effective way for full scale dye wastewater treatment.

关键词： integrated oxidation ditch vertical circle domestic wastewater dye wastewater treatment

Multi-Objective Cooperative Salvo Attack Against Group Target

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Journal of Systems Science & Complexity 2018年第1期31卷 244-261页

作者： ZENG Jie DOU Lihua xin bin School of Automation State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

This paper proposes a solution for the problem of cooperative salvo attack of multiple cruise missiles against targets in a group. Synchronization of the arrival time of missiles to hit their common target, minimizing the time consumption of attack and maximizing the expected damage to group targets are taken into consideration simultaneously. These operational objectives result in a hierarchical mixed-variable optimization problem which includes two types of subproblems, namely the multi-objective missile-target assignment（MOMTA） problem at the upper level and the time-optimal coordinated path planning（TOCPP） problems at the lower level. In order to solve the challenging problem, a recently proposed coordinated path planning method is employed to solve the TOCPP problems to achieve the soonest salvo attack against each target. With the aim of finding a more competent solver for MOMTA, three state-of-the-art multi-objective optimization methods（MOMs）,namely NSGA-II, MOEA/D and DMOEA-εC, are adopted. Finally, a typical example is used to demonstrate the advantage of the proposed method. A simple rule-based method is also employed for comparison. Comparative results show that DMOEA-εC is the best choice among the three MOMs for solving the MOMTA problem. The combination of DMOEA-εC for MOMTA and the coordinated path planning method for TOCPP can generate obviously better salvo attack schemes than the rule-based method.

关键词： Coordinated path planning missile-target assignment multi-missile salvo attack multiobjective optimization

Hybrid optimization of dynamic deployment for networked fire control system

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Journal of Systems Engineering and Electronics 2013年第6期24卷 954-961页

作者： Chen Chen Jie Chen bin xin School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

With applying the information technology to the military field, the advantages and importance of the networked combat are more and more obvious. In order to make full use of limited battlefield resources and maximally destroy enemy targets from arbitrary angle in a limited time, the research on firepower nodes dynamic deployment becomes a key problem of command and control. Considering a variety of tactical indexes and actual constraints in air defense, a mathematical model is formulated to minimize the enemy target penetration probability. Based on characteristics of the mathematical model and demands of the deployment problems, an assistance-based algorithm is put forward which combines the artificial potential field （APF） method with a memetic algorithm. The APF method is employed to solve the constraint handling problem and generate feasible solutions. The constrained optimization problem transforms into an optimization problem of APF parameters adjustment, and the dimension of the problem is reduced greatly. The dynamic deployment is accomplished by generation and refinement of feasible solutions. The simulation results show that the proposed algorithm is effective and feasible in dynamic situation.

关键词： deployment optimization artificial potential field (APF) constraint handling generation of feasible solutions memetic algorithm

An Improved Model of the Jovian Magnetosphere

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Chinese Physics Letters 2014年第3期31卷 184-186页

作者： LU bin CHEN Chu-xin Key Laboratory of Geospace Environment Department of Geophysics and Planetary Sciences School of Earth and Space Sciences University of Science and Technology of China Hefei 230026

The Jovian magnetosphere is modulated by the solar wind and centrifugal force. The configuration of the magnetic field in the previous model of the magnetosphere including the centrifugal force is consistent with the observations at low magnetic latitude （Λ〈50°）, while there is a substantial difference between the results of the model and the observations at high magnetic latitude （Λ≥50°）, especially in the distant magnetotail. Based on the previous model, a new configuration of the Jovian magnetosphere in the night side is suggested by a three-step transformation in this study. The new magnetosphere obtained by the transformation method is flattened in the z-direction and stretched in the x-direction in distant magnetotail, which agree with general knowledge.

关键词： Magnetosphere

A joint mid-course and terminal course cooperative guidance law for multi-missile salvo attack

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Chinese Journal of Aeronautics 2018年第6期31卷 1311-1326页

作者： Jie ZENG Lihua DOU bin xin School of Automation Beijing Institute of Technology Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of-Complex Systems Beijing 100081 China

Salvo attacking a surface target by multiple missiles is an effective tactic to enhance the lethality and penetrate the defense system. However, existing cooperative guidance laws in the midcourse or terminal course are not suitable for long-and medium-range missiles or stand-off attacking. Because the initial conditions of cooperative terminal guidance that are generally generated from the mid-course flight may not lead to a successful cooperative terminal guidance without proper mid-course flight adjustment. Meanwhile, cooperative guidance in the mid-course cannot solely guarantee the accuracy of a simultaneous arrival of multiple missiles. Therefore, a joint mid-course and terminal course cooperative guidance law is developed. By building a distinct leader-follower framework, this paper proposes an efficient coordinated Dubins path planning method to synchronize the arrival time of all engaged missiles in the mid-course flight. The planned flight can generate proper initial conditions for cooperative terminal guidance, and also benefit an earliest simultaneous arrival. In the terminal course, an existing cooperative proportional navigation guidance law guides all the engaged missiles to arrive at a target accurately and *** integrated guidance law for an intuitive application is summarized. Simulations demonstrate that the proposed method can generate fast and accurate salvo attack.

关键词： Cooperative systems Dubins path Mid-course flight Missile guidance Salvo attack

Left-Symmetric Superalgebra Structures on a Super Virasoro Type Algebra

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Algebra Colloquium 2020年第4期27卷 753-760页

作者： Xiansheng Dai Haibo Cher bin xin School of Mathematical Sciences Guizhou Normal University Guiyang 550001China School of Statistics and Mathematics Shanghai Lixin University of Accounting and Finance Shanghai 201209 China

In this note we classify the compatible left-symmetric superalgebra structures over a super Virasoro type algebra,whose even part is the centerless twisted Heisenberg–Virasoro algebra,with some natural grading condit... 详细信息

关键词： super Virasoro type algebra left-symmetrie superalgebra Virasoro algebra

Precedence-constrained path planning of messenger UAV for air-ground coordination

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Control Theory and Technology 2019年第1期17卷 13-23页

作者： Yulong DING bin xin Jie CHEN School of Automation Beijing Institute of Technology Beijing 700087 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China

This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the com mu nication n eighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large in stances dem on strate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.

关键词： Air-ground coordination curvature-constrained path planningz precedence constraints Dubins traveling salesman problem