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Camera,LiDAR,and IMU Based Multi-Sensor Fusion SLAM:A Survey

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Tsinghua Science and Technology 2024年第2期29卷 415-429页

作者： Jun Zhu Hongyi Li Tao Zhang department of automation Tsinghua UniversityBeijing 100084China

In recent years,Simultaneous Localization And Mapping(SLAM)technology has prevailed in a wide range of applications,such as autonomous driving,intelligent robots,Augmented Reality(AR),and Virtual Reality(VR).Multi-sensor fusion using the most popular three types of sensors(e.g.,visual sensor,LiDAR sensor,and IMU)is becoming ubiquitous in SLAM,in part because of the complementary sensing capabilities and the inevitable shortages(e.g.,low precision and long-term drift)of the stand-alone sensor in challenging *** this article,we survey thoroughly the research efforts taken in this field and strive to provide a concise but complete review of the related ***,a brief introduction of the state estimator formation in SLAM is ***,the state-of-the-art algorithms of different multi-sensor fusion algorithms are *** we analyze the deficiencies associated with the reviewed approaches and formulate some future research *** paper can be considered as a brief guide to newcomers and a comprehensive reference for experienced researchers and engineers to explore new interesting orientations.

关键词： multi-sensor fusion Simultaneous Localization And Mapping(SLAM) navigation localization

Data-Driven Control of Linear Systems via Quantized Feedback

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Journal of Systems Science & Complexity 2024年第1期37卷 152-168页

作者： LI Xingchen ZHAO Feiran YOU Keyou department of automation and BNRist Tsinghua UniversityBeijing 100084China

Quantized feedback control is fundamental to system synthesis with limited communication *** sharp contrast to the existing literature on quantized control which requires an explicit dynamical model,the authors study the quadratic stabilization and performance control problems with logarithmically quantized feedback in a direct data-driven framework,where the system state matrix is not exactly known and instead,belongs to an ambiguity set that is directly constructed from a finite number of noisy system *** this end,the authors firstly establish sufficient and necessary conditions via linear matrix inequalities for the existence of a common quantized controller that achieves our control objectives over the ambiguity ***,the authors provide necessary conditions on the data for the solvability of the LMIs,and determine the coarsest quantization density via semi-definite *** theoretical results are validated through numerical examples.

关键词： Data-driven control linear matrix inequalities linear systems quantized control.

Prospect Theory Based Individual Irrationality Modelling and Behavior Inducement in Pandemic Control

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Computer Modeling in Engineering & Sciences 2024年第7期140卷 139-170页

作者： Wenxiang Dong H.Vicky Zhao department of automation BNRistTsinghua UniversityBeijing100084China

Understanding and modeling individuals’behaviors during epidemics is crucial for effective epidemic ***,existing research ignores the impact of users’irrationality on decision-making in the ***,existing disease control methods often assume users’full compliance with measures like mandatory isolation,which does not align with the actual *** address these issues,this paper proposes a prospect theorybased framework to model users’decision-making process in epidemics and analyzes how irrationality affects individuals’behaviors and epidemic *** to the analysis results,irrationality tends to prompt conservative behaviors when the infection risk is low but encourages risk-seeking behaviors when the risk is ***,this paper proposes a behavior inducement algorithm to guide individuals’behaviors and control the spread of *** and real user tests validate our analysis,and simulation results show that the proposed behavior inducement algorithm can effectively guide individuals’behavior.

关键词： Disease spread behavior model irrationality prospect theory

A Matching Algorithm with Reinforcement Learning and Decoupling Strategy for Order Dispatching in On-Demand Food Delivery

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Tsinghua Science and Technology 2024年第2期29卷 386-399页

作者： Jingfang Chen Ling Wang Zixiao Pan Yuting Wu Jie Zheng Xuetao Ding department of automation Tsinghua UniversityBeijing 100084China department of Delivery Technology MeituanBeijing 100102China

The on-demand food delivery(OFD)service has gained rapid development in the past decades but meanwhile encounters challenges for further improving operation *** order dispatching problem is one of the most concerning issues for the OFD platforms,which refer to dynamically dispatching a large number of orders to riders reasonably in very limited decision *** solve such a challenging combinatorial optimization problem,an effective matching algorithm is proposed by fusing the reinforcement learning technique and the optimization ***,to deal with the large-scale complexity,a decoupling method is designed by reducing the matching space between new orders and ***,to overcome the high dynamism and satisfy the stringent requirements on decision time,a reinforcement learning based dispatching heuristic is *** be specific,a sequence-to-sequence neural network is constructed based on the problem characteristic to generate an order priority ***,a training approach is specially designed to improve learning ***,a greedy heuristic is employed to effectively dispatch new orders according to the order priority *** real-world datasets,numerical experiments are conducted to validate the effectiveness of the proposed *** results show that the proposed algorithm can effectively solve the problem by improving delivery efficiency and maintaining customer satisfaction.

关键词： order dispatching on-demand delivery reinforcement learning decoupling strategy sequence-to-sequence neural network

Optimal Positioning Strategy for Multi-Camera Zooming Drones

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1802-1818页

作者： Manuel Vargas Carlos Vivas Teodoro Alamo department of System Engineering and automation University of SevilleSeville 41092Spain

In the context of multiple-target tracking and surveillance applications,this paper investigates the challenge of determining the optimal positioning of a single autonomous aerial vehicle or agent equipped with multiple independently-steerable zooming cameras to effectively monitor a set of targets of *** camera is dedicated to tracking a specific target or cluster of *** key innovation of this study,in comparison to existing approaches,lies in incorporating the zooming factor for the onboard cameras into the optimization *** enhancement offers greater flexibility during mission execution by allowing the autonomous agent to adjust the focal lengths of the onboard cameras,in exchange for varying real-world distances to the corresponding targets,thereby providing additional degrees of freedom to the optimization *** proposed optimization framework aims to strike a balance among various factors,including distance to the targets,verticality of viewpoints,and the required focal length for each *** primary focus of this paper is to establish the theoretical groundwork for addressing the non-convex nature of the optimization problem arising from these *** this end,we develop an original convex approximation *** paper also includes simulations of diverse scenarios,featuring varying numbers of onboard tracking cameras and target motion profiles,to validate the effectiveness of the proposed approach.

关键词： Convex optimization projective transformation unmanned aerial vehicle visual object tracking visual surveillance.

Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance

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Journal of Systems Science & Complexity 2024年第1期37卷 136-151页

作者： PAN Zini CHEN Ben M department of Mechanical and automation Engineering The Chinese University of Hong KongHong KongChina

In this paper,the authors study the cooperative target-fencing problem for n-dimensional systems and a target with a general *** using the velocity of the vehicles,a position feedback control law is proposed to fence the general target into the convex hull formed by the ***,the dynamics of each vehicle is described by a double-integrator *** potential functions are designed to guarantee connectivity preservation of the communication network and collision avoidance among the *** proposed approach can deal with a target whose trajectory is any twice continuously differentiable function of *** effectiveness of the result is verified by a numerical example.

关键词： Multi-agent systems networked systems target fencing

Quantum gate-assisted teleportation in noisy environments:robustness and fidelity improvement

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Communications in Theoretical Physics 2024年第1期76卷 36-48页

作者： Sajede Harraz Jiaoyang Zhang Shuang Cong department of automation University of Science and Technology of ChinaHefei 230027China

Quantum teleportation as the key strategy for quantum communication requires pure maximally shared entangled states among quantum *** practice,quantum decoherence drastically degrades the shared entanglement during entanglement distribution,which is a serious challenge for the development of quantum ***,most of the decoherence control strategies proposed thus far are either resource-intensive or *** overcome this obstacle,we enable noise-resistant teleportation through a noisy channel with a limited number of qubits and without applying time-consuming weak *** apply a quantum gate control unit consisting of a controlled NOT gate and a rotation gate after the original teleportation protocol is ***,we demonstrate that a teleportation fidelity of unity is attainable when environment-assisted measurement is added to the proposed teleportation protocol via quantum ***,we present an entanglement distribution process by employing the designed quantum gate control unit followed by the deterministic standard teleportation protocol to improve teleportation fidelity by establishing improved shared *** performance analysis indicates that the proposed teleportation schemes offer a competitive fidelity and success probability compared with the conventional schemes and a recent weak measurement-based teleportation protocol.

关键词： quantum communication quantum teleportation decoherence control quantum gate environment-assisted measurement

Distributed Nash Equilibrium Seeking on Compact Action Sets over Jointly Strongly Connected Switching Networks

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Journal of Systems Science & Complexity 2024年第1期37卷 63-81页

作者： HE Xiongnan HUANG Jie department of Mechanical and automation Engineering The Chinese University of Hong KongHong Kong 999077China.

This paper studies the distributed Nash equilibrium seeking(DNES)problem for games whose action sets are compact and whose network graph is switching satisfying the jointly strongly connected *** keep the actions of all players in their action sets all the time,one has to resort to the projected gradient-based *** the assumption that the unique Nash equilibrium is the unique equilibrium of the pseudogradient system,an algorithm is proposed that is able to exponentially find the Nash ***,the authors also consider the distributed Nash equilibrium seeking problem for games whose actions are governed by high-order integrator dynamics and belong to some compact *** examples are used to illustrate the proposed approach.

关键词： Compact action sets jointly strongly connected switching graphs Nash equilibrium seeking projected gradient-based algorithm.

Geometric approach to robust quantum control for time-varying noises

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Science China(Physics,Mechanics & Astronomy) 2024年第9期67卷 197-198页

作者： Rebing Wu Center for Intelligent and Networked Systems Department of AutomationTsinghua UniversityBeijing 100084China

Quantum technologies are expected to revolutionze modern information processing *** all quntum technologies demand high-precision control of quantum ***,maintaining the high-precision against noises is rather difficult[1].This requirement calls for robust control pulse design that is insensitive to *** practical implementation,the control pulses need to be smoothly shaped and be able to tackle parametric uncertainties or time-varying noises with complicated frequency characteristics.

关键词： quantum smoothly shaped

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