This paper compares several Ambiguity Resolution (AR) methods, including the Least square AMBiguity Decorrelation Adjustment (LAMBDA) method, the Modified LAMBDA (MLAMBDA) method, the Two-step Success Rate Criterion (TSRC) method with the low cost GNSS receivers. The algorithms were firstly tested with the low cost ublox F9P dual frequency multi-GNSS receivers in vehicle field test and UAV flight test. The ambiguity fix rate and the Time To First Fix (TTFF) are used as indices to compare the algorithms. Experiments show that the Co-LAMBDA algorithm achieves a TTFF of 480 epochs and a fix rate of 53.7%, and the TSRC algorithm achieves a TTFF of 112 epochs and a fix rate of 91.3%. It can be seen that TSRC algorithm has better performance in both TTFF and fix rate in the low cost GNSS UAV dynamic positioning applications. Then the algorithms were tested with a quasi-dynamic medium-long baseline Real-Time Kinematic (RTK) experiment, a total of 970 experimental results verify that the TSRC algorithm improves the median fix rate from 41.51% to 90.83%, and the median correct rate slightly degrades from 100% to 96.98%, which is reasonable since it computes the statistics from many more fixed-solution samples.
本文将最小二乘歧义去相关平差法(LAMBDA)、改进LAMBDA法(MLAMBDA)、两步成功率准则法(TSRC)等几种歧义解决方法与低成本GNSS接收机进行了比较。首先在低成本ublox F9P双频多gnss接收机上进行了车辆现场试验和无人机飞行试验。以歧义修复率和首次修复时间(Time To First fix, TTFF)作为比较算法的指标。实验表明，Co-LAMBDA算法的TTFF为480个epoch，固定率为53.7%，TSRC算法的TTFF为112个epoch，固定率为91.3%。可以看出，在低成本GNSS无人机动态定位应用中，TSRC算法在TTFF和固定率方面都具有更好的性能。然后通过准动态中长期基线实时运动学(RTK)实验对算法进行了测试，共970个实验结果验证，TSRC算法将中位数固定率从41.51%提高到90.83%，中位数正确率从100%略微下降到96.98%，这是合理的，因为它计算了更多固定解样本的统计量。
{"title":"Partial Ambiguity Resolution for Low Cost GNSS Receiver in UAV Navigation Applications: A Comparative Study","authors":"Xin Liu, Jiaju Guo, Haoli Zhang, Dezhong Zhou, Yanqing Hou","doi":"10.1109/ICUS55513.2022.9987056","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9987056","url":null,"abstract":"This paper compares several Ambiguity Resolution (AR) methods, including the Least square AMBiguity Decorrelation Adjustment (LAMBDA) method, the Modified LAMBDA (MLAMBDA) method, the Two-step Success Rate Criterion (TSRC) method with the low cost GNSS receivers. The algorithms were firstly tested with the low cost ublox F9P dual frequency multi-GNSS receivers in vehicle field test and UAV flight test. The ambiguity fix rate and the Time To First Fix (TTFF) are used as indices to compare the algorithms. Experiments show that the Co-LAMBDA algorithm achieves a TTFF of 480 epochs and a fix rate of 53.7%, and the TSRC algorithm achieves a TTFF of 112 epochs and a fix rate of 91.3%. It can be seen that TSRC algorithm has better performance in both TTFF and fix rate in the low cost GNSS UAV dynamic positioning applications. Then the algorithms were tested with a quasi-dynamic medium-long baseline Real-Time Kinematic (RTK) experiment, a total of 970 experimental results verify that the TSRC algorithm improves the median fix rate from 41.51% to 90.83%, and the median correct rate slightly degrades from 100% to 96.98%, which is reasonable since it computes the statistics from many more fixed-solution samples.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115047974","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986942
Weiwei Zhan, Zhiqiang Miao, Yanjie Chen, Yaonan Wang
In this paper, we solve the formation problem of nonholonomic mobile robots (NMRs) over noisy communication networks. The communication signals with noisy information are exchanged among different NMRs by a directed graph. Only the individual mobile robot directly receives the actual and feasible signals itself without communication. Besides, the sensor-to-control signals suffering from the noise are modeled by a nonlinear function including unknown parameters and uncertainties. Combined with the adaptive control technique and robust control technique, the unknown parameters and uncertainties of noisy signal models are respectively estimated and compensated, respectively. Then, a novel distributed adaptive formation controller is proposed to guarantee convergence to the optimal positions over noisy communication networks. It is proved that the formation errors are convergent to a small neighbourhood of origin and closed-loop signals of each NMRs are bounded. A simulation example is given to demonstrate the theoretical studies.
{"title":"Distributed Adaptive Formation Control for Nonholonomic Mobile Robots over Noisy Communication Networks","authors":"Weiwei Zhan, Zhiqiang Miao, Yanjie Chen, Yaonan Wang","doi":"10.1109/ICUS55513.2022.9986942","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986942","url":null,"abstract":"In this paper, we solve the formation problem of nonholonomic mobile robots (NMRs) over noisy communication networks. The communication signals with noisy information are exchanged among different NMRs by a directed graph. Only the individual mobile robot directly receives the actual and feasible signals itself without communication. Besides, the sensor-to-control signals suffering from the noise are modeled by a nonlinear function including unknown parameters and uncertainties. Combined with the adaptive control technique and robust control technique, the unknown parameters and uncertainties of noisy signal models are respectively estimated and compensated, respectively. Then, a novel distributed adaptive formation controller is proposed to guarantee convergence to the optimal positions over noisy communication networks. It is proved that the formation errors are convergent to a small neighbourhood of origin and closed-loop signals of each NMRs are bounded. A simulation example is given to demonstrate the theoretical studies.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114396411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986971
Ya Wang, Lei Shi, Jinliang Shao, Yuhua Cheng, Houjun Wang
This paper investigates the issue of localization for wireless sensor networks resistant to denial-of-service (DoS) attacks with the assumption that each attack consists of an active period and a dormant period due to limited power. On the basis of barycentric coordinates involving relative distance measurements, a hold-on strategy based distributed localization (HS-DILOC) algorithm is proposed. Explicitly when the communication channel of a sensor is perpetrated by DoS attacks, HS-DILOC allows the sensor to update its coordinates utilizing the previous packets collected from its neighbors during the last dormant period. In addition, this paper theoretically shows that the proposed algorithm is capable of converging to the accurate locations of sensors disregarding the attack strategy. Finally, the experiments on Raspberry Pis are used to illustrate the validity of the proposed algorithm.
{"title":"Distributed Iterative Localization for Wireless Sensor Networks Subject to DoS Attacks","authors":"Ya Wang, Lei Shi, Jinliang Shao, Yuhua Cheng, Houjun Wang","doi":"10.1109/ICUS55513.2022.9986971","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986971","url":null,"abstract":"This paper investigates the issue of localization for wireless sensor networks resistant to denial-of-service (DoS) attacks with the assumption that each attack consists of an active period and a dormant period due to limited power. On the basis of barycentric coordinates involving relative distance measurements, a hold-on strategy based distributed localization (HS-DILOC) algorithm is proposed. Explicitly when the communication channel of a sensor is perpetrated by DoS attacks, HS-DILOC allows the sensor to update its coordinates utilizing the previous packets collected from its neighbors during the last dormant period. In addition, this paper theoretically shows that the proposed algorithm is capable of converging to the accurate locations of sensors disregarding the attack strategy. Finally, the experiments on Raspberry Pis are used to illustrate the validity of the proposed algorithm.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123417089","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986765
Yan Zhang, Yucan Chi, Yongsheng Fan
With the rapid development of space remote sensing technology, accurate ship detection based on high-resolution optical remote sensing images has steadily attracted considerable research interest. However, most of the current methods adopt a fixed horizontal detection frame to predict the target. Although these methods have good detection accuracy, because the ship's orientation is arbitrary in reality, a large error occurs in the matching degree of the detection effective area, resulting in inaccurate target detection. Therefore, this paper proposes a ship detection algorithm based on an arbitrary quadrilateral prediction frame. We redefine the loss function and directly predict the detection frame's four vertices through the designed eight-parameter regression process. In addition, the convolutional block attention module (CBAM) is introduced to optimize the original network structure, and the clustering method is used to optimize the calculation of the anchor point. To replace the intersection over union (IoU), which cannot distinguish different alignments of objects, we adopt a generalized intersection over union (GIoU). Finally, we conduct experiments based on the DOTA ship dataset and the HRSC2016 dataset. The results show that our method is better than YOLOv3 and other commonly used target detection algorithms in terms of accuracy and visualization. Meanwhile, we compared with SOTA algorithm in real-time and dense ship detection. Experimental results prove that its speed and performance on mobile platform are in the lead, and it has a great effect on dense ship detection.
随着空间遥感技术的快速发展，基于高分辨率光学遥感图像的船舶精确探测日益引起人们的关注。然而，目前的方法大多采用固定的水平检测帧来预测目标。这些方法虽然具有较好的检测精度，但由于现实中舰船的方位是任意的，在检测有效区域的匹配程度上出现较大误差，导致目标检测不准确。为此，本文提出了一种基于任意四边形预测框架的船舶检测算法。我们重新定义损失函数，通过设计的八参数回归过程直接预测检测帧的四个顶点。此外，引入卷积块注意力模块(CBAM)对原有网络结构进行优化，并采用聚类方法对锚点的计算进行优化。为了取代不能区分物体不同排列的交并(intersection over union, IoU)，我们采用广义交并(GIoU)。最后，我们基于DOTA船舶数据集和HRSC2016数据集进行了实验。结果表明，我们的方法在精度和可视化方面都优于YOLOv3和其他常用的目标检测算法。同时，比较了SOTA算法在实时和密集船舶检测方面的性能。实验结果表明，该方法在移动平台上的速度和性能都处于领先地位，对密集船舶检测有很大的效果。
{"title":"Highly Adaptive Ship Detection Based on Arbitrary Quadrilateral Bounding Box","authors":"Yan Zhang, Yucan Chi, Yongsheng Fan","doi":"10.1109/ICUS55513.2022.9986765","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986765","url":null,"abstract":"With the rapid development of space remote sensing technology, accurate ship detection based on high-resolution optical remote sensing images has steadily attracted considerable research interest. However, most of the current methods adopt a fixed horizontal detection frame to predict the target. Although these methods have good detection accuracy, because the ship's orientation is arbitrary in reality, a large error occurs in the matching degree of the detection effective area, resulting in inaccurate target detection. Therefore, this paper proposes a ship detection algorithm based on an arbitrary quadrilateral prediction frame. We redefine the loss function and directly predict the detection frame's four vertices through the designed eight-parameter regression process. In addition, the convolutional block attention module (CBAM) is introduced to optimize the original network structure, and the clustering method is used to optimize the calculation of the anchor point. To replace the intersection over union (IoU), which cannot distinguish different alignments of objects, we adopt a generalized intersection over union (GIoU). Finally, we conduct experiments based on the DOTA ship dataset and the HRSC2016 dataset. The results show that our method is better than YOLOv3 and other commonly used target detection algorithms in terms of accuracy and visualization. Meanwhile, we compared with SOTA algorithm in real-time and dense ship detection. Experimental results prove that its speed and performance on mobile platform are in the lead, and it has a great effect on dense ship detection.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121384212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986897
Fei Suo, Jiaqi Lv, Zhan Wang
Autonomous localization and map construction of underwater robots in unknown environments is a very important research area. Visual SLAM technology is based on visual processing algorithms and can accomplish this task at a low cost. This paper focuses on a set of underwater robot visual SLAM experimental process. Based on ROS system, Mono visual SLAM experiments are performed on UWSim simulation environment and real robot respectively by using mature ORB-SLAM2 algorithm. The experimental results show that this method can accurately build the sparse point cloud map of the environment under the condition of sufficient environmental feature points.
{"title":"The Implementation of the SLAM Method in ROS System and Underwater Robot","authors":"Fei Suo, Jiaqi Lv, Zhan Wang","doi":"10.1109/ICUS55513.2022.9986897","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986897","url":null,"abstract":"Autonomous localization and map construction of underwater robots in unknown environments is a very important research area. Visual SLAM technology is based on visual processing algorithms and can accomplish this task at a low cost. This paper focuses on a set of underwater robot visual SLAM experimental process. Based on ROS system, Mono visual SLAM experiments are performed on UWSim simulation environment and real robot respectively by using mature ORB-SLAM2 algorithm. The experimental results show that this method can accurately build the sparse point cloud map of the environment under the condition of sufficient environmental feature points.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122883205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9987220
F. Jia, Xiangyu Li, Xingyu Zhou, D. Qiao
The interferometric constellations are widely applied to high-precision measurement in space, such as space gravitational waves detection. Uncertain propagation study of constellations can provide guidance for configuration design, but highly nonlinear dynamics and large evolution time make it very difficult. This paper aims at the uncertainty propagation of the geocentric interferometric constellations under the action of complex conservative forces. First, the configuration parameters of a constellation are introduced. The magnitudes of the conservative perturbations at different orbital altitudes are analyzed, including the third body perturbations from the Moon, the Sun and the Earth's non-spherical perturbation. Secondly, the initial state of the constellation is represented by the set of orbital elements of each spacecraft. The deviations of the orbital elements are separately applied to the initial configurations of different orientations and sizes to study the configuration uncertainty propagations. It is found that the accumulation of phase deviation is the major factor leading to the configuration deformation. The uncertainty magnitude of the constellation is inversely related to the configurational size. Besides, the configuration of the constellations, whose orbital period is resonated with the Moon, should be avoided in the mission design.
{"title":"Configuration Uncertainty Propagation of Geocentric Interferometric Constellation with Respect to Orbital Element Errors","authors":"F. Jia, Xiangyu Li, Xingyu Zhou, D. Qiao","doi":"10.1109/ICUS55513.2022.9987220","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9987220","url":null,"abstract":"The interferometric constellations are widely applied to high-precision measurement in space, such as space gravitational waves detection. Uncertain propagation study of constellations can provide guidance for configuration design, but highly nonlinear dynamics and large evolution time make it very difficult. This paper aims at the uncertainty propagation of the geocentric interferometric constellations under the action of complex conservative forces. First, the configuration parameters of a constellation are introduced. The magnitudes of the conservative perturbations at different orbital altitudes are analyzed, including the third body perturbations from the Moon, the Sun and the Earth's non-spherical perturbation. Secondly, the initial state of the constellation is represented by the set of orbital elements of each spacecraft. The deviations of the orbital elements are separately applied to the initial configurations of different orientations and sizes to study the configuration uncertainty propagations. It is found that the accumulation of phase deviation is the major factor leading to the configuration deformation. The uncertainty magnitude of the constellation is inversely related to the configurational size. Besides, the configuration of the constellations, whose orbital period is resonated with the Moon, should be avoided in the mission design.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129399966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986991
Yiming Li, Bin Jiang, Junan Yang, Jian Wang, Beibei Li, Keju Huang, Kun Shao
An online trajectory planner permits autonomous unmanned vehicles to maneuver in a changing mission scenario and varying environment. However, in real-time online plannings, task performance, completeness and accuracy is seriously challenged by the latency during mission planning and scheme computation. To address the issue, we propose a latency-correcting online trajectory planner based on successive convex approximation (SCA), which is aiming at offset the latency in the planning. In this work, two types of latency are considered, i.e., a prior known variable and computation, where the latter one poses a problem. With this, we devise an online latency method to predict computing latency by conducting time complexity analysis. The experiment is to design an optimal UAV trajectory to serve the eavesdropping of an uncooperative emitter. The results showed this harmful latency effect, and then demonstrated the improved accuracy and task performance of the proposed planner.
{"title":"A Latency-offset Online Trajectory Planner based on Successive Convex Approximation","authors":"Yiming Li, Bin Jiang, Junan Yang, Jian Wang, Beibei Li, Keju Huang, Kun Shao","doi":"10.1109/ICUS55513.2022.9986991","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986991","url":null,"abstract":"An online trajectory planner permits autonomous unmanned vehicles to maneuver in a changing mission scenario and varying environment. However, in real-time online plannings, task performance, completeness and accuracy is seriously challenged by the latency during mission planning and scheme computation. To address the issue, we propose a latency-correcting online trajectory planner based on successive convex approximation (SCA), which is aiming at offset the latency in the planning. In this work, two types of latency are considered, i.e., a prior known variable and computation, where the latter one poses a problem. With this, we devise an online latency method to predict computing latency by conducting time complexity analysis. The experiment is to design an optimal UAV trajectory to serve the eavesdropping of an uncooperative emitter. The results showed this harmful latency effect, and then demonstrated the improved accuracy and task performance of the proposed planner.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129778571","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986633
Tianxing Chen, X. Zhuang, Zhiwei Hou, Hongbo Chen
In this paper, a development solution based on Pixhawk and Robot Operating System (ROS) is proposed for the research and application of autonomous quadrotor flight with a rotor failure. The solution adopts the ROS development framework, which allows users to design the fault-tolerant controller for quadrotor directly in ROS to update control signals in high frequency. In addition, the proposed solution can be further validated using the ROS-Gazebo visual simulation environment for different types of fault-tolerant controllers and deployed in real quadrotor. Finally, a specific fault-tolerant controller and its control effects are given in this paper to show the effectiveness and advantages of the proposed solution.
{"title":"A Pixhawk-ROS Based Development Solution for the Research of Autonomous Quadrotor Flight with a Rotor Failure","authors":"Tianxing Chen, X. Zhuang, Zhiwei Hou, Hongbo Chen","doi":"10.1109/ICUS55513.2022.9986633","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986633","url":null,"abstract":"In this paper, a development solution based on Pixhawk and Robot Operating System (ROS) is proposed for the research and application of autonomous quadrotor flight with a rotor failure. The solution adopts the ROS development framework, which allows users to design the fault-tolerant controller for quadrotor directly in ROS to update control signals in high frequency. In addition, the proposed solution can be further validated using the ROS-Gazebo visual simulation environment for different types of fault-tolerant controllers and deployed in real quadrotor. Finally, a specific fault-tolerant controller and its control effects are given in this paper to show the effectiveness and advantages of the proposed solution.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129595926","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986768
G. Wen
Distributed leader escort control and bipartite time-varying formation tracking (BTFT) problems are investigated respectively in this paper for a group of multiple autonomous surface vessels (ASVs) in the presence of a dynamic leader. To facilitate the analysis, it is assumed that the velocity and acceleration of the dynamic leader are bounded. By utilizing signed graphs, the following ASVs are divided into two groups to form different time-varying formation configurations. Then, two new kinds of controllers are designed respectively for completing the distributed leader escort control and BTFT tasks under the mild condition that only parts of the following ASVs can obtain the leader's information. By using tools from Lyapunov stability theory and sliding mode control theory, it is proven that the objectives of distributed leader escort control and BTFT can be respectively achieved asymptotically under the designed controllers with appropriate control gains. The results are further extended to the scenarios where the dynamics of following ASVs subject to uncertain Coriolis and centripetal matrix, and uncertain damping matrix. At last, some numerical simulations are presented to illustrate the validity of the designed controllers.
{"title":"On distributed leader escort control and bipartite time-varying formation tracking of multiple ASVs","authors":"G. Wen","doi":"10.1109/ICUS55513.2022.9986768","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986768","url":null,"abstract":"Distributed leader escort control and bipartite time-varying formation tracking (BTFT) problems are investigated respectively in this paper for a group of multiple autonomous surface vessels (ASVs) in the presence of a dynamic leader. To facilitate the analysis, it is assumed that the velocity and acceleration of the dynamic leader are bounded. By utilizing signed graphs, the following ASVs are divided into two groups to form different time-varying formation configurations. Then, two new kinds of controllers are designed respectively for completing the distributed leader escort control and BTFT tasks under the mild condition that only parts of the following ASVs can obtain the leader's information. By using tools from Lyapunov stability theory and sliding mode control theory, it is proven that the objectives of distributed leader escort control and BTFT can be respectively achieved asymptotically under the designed controllers with appropriate control gains. The results are further extended to the scenarios where the dynamics of following ASVs subject to uncertain Coriolis and centripetal matrix, and uncertain damping matrix. At last, some numerical simulations are presented to illustrate the validity of the designed controllers.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130212381","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, the affine formation control problem is adressed using event-triggered method based on the sample data. Individuals in this system has first-order dynamics. Two different methods basing on sampled information are developed respectively. Zeno behavior is excluded as a result of the sampling schemein. Continous communication is avoided in self-triggered strategy. It can be proved that affine formation is realized eventually under two proposed control schemes. Finally, numerical examples show the validity of proposed strategies.
{"title":"Sampled-data-based Event-triggered Affine Formation Control for Multi-agent Systems with Intergrator Dynamics","authors":"Xiaofeng Chai, Yue Sun, Na Zhang, Shuai Ma, Yuxiang Wang, Qi Diao","doi":"10.1109/ICUS55513.2022.9987105","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9987105","url":null,"abstract":"In this paper, the affine formation control problem is adressed using event-triggered method based on the sample data. Individuals in this system has first-order dynamics. Two different methods basing on sampled information are developed respectively. Zeno behavior is excluded as a result of the sampling schemein. Continous communication is avoided in self-triggered strategy. It can be proved that affine formation is realized eventually under two proposed control schemes. Finally, numerical examples show the validity of proposed strategies.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126920323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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