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Univector field method-based multi-agent navigation for pursuit problem in obstacle environments

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Journal of Central South University 2017年第4期24卷 1002-1012页

作者： Le Pham Tuyen Hoang Huu Viet Sang Hyeok An Seung Gwan Lee Dong-Han Kim Tae Choong Chung Department of Computer Science and Engineering Kyung Hee University Yongin Gyeonggi 446-701 Korea Department of Information Technology Vinh University 182-Le Duan Vinh City Nghe An 461056 Vietnam Humanitas College Kyung Hee University Yongin Gyeonggi 446-701 Korea Department of Electronics and Radio Engineering Kyung Hee University Yongin Gyeonggi 446-701 Korea

The pursuit problem is a well-known problem in computer science. In this problem, a group of predator agents attempt to capture a prey agent in an environment with various obstacle types, partial observation, and an infinite grid-world. Predator agents are applied algorithms that use the univector field method to reach the prey agent, strategies for avoiding obstacles and strategies for cooperation between predator agents. Obstacle avoidance strategies are generalized and presented through strategies called hitting and following boundary(HFB); trapped and following shortest path(TFSP); and predicted and following shortest path(PFSP). In terms of cooperation, cooperation strategies are employed to more quickly reach and capture the prey agent. Experimental results are shown to illustrate the efficiency of the method in the pursuit problem.

关键词： pursuit problem predator agent prey agent univector field method multi-agent systems

Evasion and pursuit guidance law against defended target

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Chinese Journal of Aeronautics 2017年第6期30卷 1958-1973页

作者： Naiming QI Qilong SUN Jun ZHAO Department of Aerospace Engineering Harbin Institute of Technology 150001 Harbin Heilongjiang China

This paper investigates a new approach for a scenario in which an Attacker attempts to intercept a defended aerial Target. The problem is formulated as a game among three players, an Attacker, a Defender, and a Target, with bounded controls. In the considered pursuit–evasion problem, the Target uses an optimal evasion strategy and the Defender uses an optimal pursuit *** proposed approach focuses on the miss distance as the outcome of the conflict. The infeasible region for the initial Zero-Effort-Miss（ZEM） distance between the Attacker and the Defender, for a scenario in which the Attacker evades the Defender, is analyzed, assuming that the Attacker uses a control effort chosen from the permitted control region. The sufficient conditions are investigated under which, for ideal players, the Attacker can pursue the Target while evading the Defender launched by the Target. The guidance provided on how the Attacker can accomplish the task is divided into two parts. During the final time between the Attacker and the Defender, the Attacker chooses the control effort that guarantees the miss distance, and then uses the optimal pursuit strategy to accomplish the task. The derived guidance law is verified by nonlinear simulation.

关键词： Evasion pursuit Three players Two parts guidance lawZero-effort-miss

Consensus pursuit of heterogeneous multi-agent systems under a directed acyclic graph

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Chinese Physics B 2011年第4期20卷 551-557页

作者：闫敬关新平罗小元 Institute of Electrical Engineering Yanshan University

This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents, and agents will pursue the target once they detect its existence. Since the ability of each agent may be different, we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems, a novel consensus-based control law is proposed, where the target and agents are modeled as a leader and followers, respectively. Based on Mason＇s rule and signal flow graph analysis, the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally, simulation studies are provided to verify the effectiveness of the proposed approach.

关键词： heterogeneous multi-agent systems pursuit consensus leader-follower

Multi-target pursuit formation of multi-agent systems

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Chinese Physics B 2011年第1期20卷 698-707页

作者：闫敬关新平罗小元 Institute of Electrical Engineering Yanshan University School of Electronic and Electric Engineering Shanghai Jiaotong University

The main goal of this paper is to design a team of agents that can accomplish multi-target pursuit formation using a developed leader-follower strategy. It is supposed that every target can accept a certain number of agents. First, each agent can automatically choose its target based on the distance from the agent to the target and the number of agents accepted by the target. In view of the fact that all agents are randomly dispersed in the workplace at the initial time, we present a numbering strategy for them. During the movement of agents, not every agent can always obtain pertinent state information about the targets. So, a developed leader-follower strategy and a pursuit formation algorithm are proposed. Under the proposed method, agents with the same target can maintain a circle formation. Furthermore, it turns out that the pursuit formation algorithm for agents to the desired formation is convergent. Simulation studies are provided to illustrate the effectiveness of the proposed method.

关键词： multi-agent systems pursuit formation leader-follower

On some tests-based projection pursuit for elliptical symmetry of a high-dimensional distribution

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Chinese Science Bulletin 1998年第6期43卷 450-458页

作者： JING Ping 1 and ZHU Lixing 2 1. Mathematics Lab, China University of Mining & Technology, Beijing 100083, China 2. Probability Lab, Institute of Applied Mathematics, Chinese Academy of Sciences, Beijing 100080, China Mathematics Lab China University of Mining & Technology Beijing China Probability Lab Institute of Applied Mathematics Chinese Academy of Sciences Beijing China

Some test statistics of Kolmogorov type and Cramér-von Mises type based on projection pursuit technique are proposed for the testing problem of sphericity of a high-dimensional distribution. The limiting distributions of the test statistics are derived under the null hypothesis and under any fixed alternative. The asymptotic properties of bootstrap approximation are investigated. Furthermore, for computational reasons, an approximation for the statistics, based on the number theoretic method, is suggested.

关键词： bootstrap approximation projection pursuit type statistic elliptical symmetry.

Orbital Interception pursuit Strategy for Random Evasion Using Deep Reinforcement Learning

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Space(Science & Technology) 2023年第1期3卷 606-619页

作者： Rui Jiang Dong Ye Yan Xiao Zhaowei Sun Zeming Zhang Research Center of Satellite Technology School of AstronauticsHarbin Institute of TechnologyHarbinChina Space Missions Engineering Lab Department of Aerospace Science and TechnologyPolitecnico di MilanoMilanoItaly

Aiming at the interception problem of noncooperative evader spacecraft adopting random maneuver strategy in one-to-one orbital pursuit-evasion problem,an interception strategy with decision-making training mechanism for the pursuer based on deep reinforcement learning is *** core purpose is to improve the success rate of interception in the environment with high *** of all,a multi-impulse orbit transfer model of pursuer and evader is established,and a modular deep reinforcement learning training method is ***,an effective reward mechanism is proposed to train the pursuer to choose the impulse direction and impulse interval of the orbit transfer and to learn the successful interception strategy with the optimal fuel and ***,with the evader taking a random maneuver decision in each episode of training,the trained decision-making strategy is applied to the pursuer,the corresponding interception success rate of which is further *** results show that the pursuer trained can obtain universal and variable interception *** each round of pursuit-evasion,with random maneuver strategy of the evader,the pursuer can adopt similar optimal decisions to deal with high-dimensional environments and thoroughly random state space,maintaining high interception success rate.

关键词： pursuit mechanism thoroughly

Acoustic sound speed profile inversion based on orthogonal matching pursuit

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Acta Oceanologica Sinica 2019年第11期38卷 149-157页

作者： Qianqian Li Juan Shi Zhenglin Li Yu Luo Fanlin Yang Kai Zhang College of Geomrtics Shandong University of Science and TechnologyQingdao 266590China College of Underwater Acoustic Engineering Harbin Engineering UniversityHarbin 150001China State Key Laboratory of Acoustics Institute of AcousticsChinese Academy of SciencesBeijing 100190China

The estimation of ocean sound speed profiles(SSPs)requires the inversion of an acoustic field using limited *** inverse problems are underdetermined,and require regularization to ensure physically realistic *** empirical orthonormal function(EOF)is capable of a very large compression of the data *** this paper,the non-linear response of the sound pressure to SSP is linearized using a first order Taylor expansion,and the pressure is expanded in a sparse domain using *** the parameters of the inverse model are sparse,compressive sensing(CS)can help solve such underdetermined problems accurately,efficiently,and with enhanced ***,the orthogonal matching pursuit(OMP)is used to estimate range-independent acoustic SSPs using the simulated acoustic *** superior resolution of OMP is demonstrated with the SSP data from the South China Sea *** shortening the duration of the training set,the temporal correlation between EOF and test sets is enhanced,and the accuracy of sound velocity inversion is *** SSP estimation error versus depth is calculated,and the 99%confidence interval of error is within±0.6 m/*** 82%of mean absolute error(MAE)is less than 1 m/*** is shown that SSPs can be well estimated using OMP.

关键词： acoustic sound speed ocean acoustics compressive sensing orthogonal matching pursuit

Differential Kinematic Encoding of Saccades and Smooth-pursuit Eye Movements by Fastigial Neurons

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Neuroscience Bulletin 2022年第8期38卷 927-932页

作者： Zongpeng Sun Peter W.Dicke Peter Thier School of Psychology Shaanxi Normal UniversityXi’an710062China Department of Cognitive Neurology Hertie Institute for Clinical Brain Research72076TübingenGermany

Dear Editor,Saccades and smooth-pursuit eye movements(SPEMs)are two categories of eye movements with very different kinematics,in particular very different acceleration and velocity ranges,differences that have contributed to the notion of largely segregated underlying neuronal *** instance,it has been suggested that distinct wellsegregated pools of oculomotor vermis(OMV)Purkinje cells(PCs)are specialized for the fine-tuning of the relevant kinematic parameters characterizing each of them.

关键词： pursuit specialized instance

On　Projection　pursuit　Type　Density　Estimation

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Communications in Mathematical Research 1996年第4期 110-118页

作者：宋立新吕素娟Ｄａｑｉｎｇ　Ｖｏｃａｔｉｏｎａｌ　ＣｏｌｅｇｅＤｅｐａｒｔｍｅｎｔ　ｏｆ　ＭａｔｈｅｍａｔｉｃｓＪｉｌｉｎ　Ｕｎｉｖｅｒｓｉｔｙ

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关键词：宋立 Type pursuit On Projection Density Estimation