Yuehao Yan, Zhiying Lv, Ping Huang, Jinbiao Yuan, Hao-cheng Long
{"title":"基于三向多属性决策的无人机作战快速选择","authors":"Yuehao Yan, Zhiying Lv, Ping Huang, Jinbiao Yuan, Hao-cheng Long","doi":"10.2316/J.2021.206-0605","DOIUrl":null,"url":null,"abstract":"Unmanned aerial vehicles (UAVs) can carry out more and more dangerous missions and strike deep in the skies over hostile military sites. Thus, selecting appropriate UAVs to attend combat through rapid assessment is a hot topic in current research. In consideration of formulating practical evaluation as a three-way multiple attribute decision making (MADM) problem, a comprehensive assessment method based on interval-valued intuitionistic fuzzy set (IVIFs) is introduced under the context of determining the precision combat mission. First, the critical attributes of the UAV combat effectiveness are determined according to battlefield intelligence. Second, the attribute weights are computed by exploring the feature information of attribute orders given by experts. Third, the conditional probto collect more information to reach decision conclusions. It is a new research to combine a three-way decision algorithm and multiple attribute decision making (MADM) [13]\u0085[17] in recent years. This hybrid method can consider both the MADM matrix and di erent loss functions for individual UAVs. In the application of decision, it is di cult for experts to give an accurate assessment with exact numbers due to the complexity of the battle. The denition of the intuitionistic fuzzy set (IFs) as an extension of the fuzzy number [18]\u0085[20] was proposed by Atanassov, in which both membership and non-membership degrees were introduced. As a further extension of IFs, Atanassov and Gargov proposed the concept of interval-valued intuitionistic fuzzy set (IVIFs) [21]\u0085[29]. It is clear that IVIFs enables experts to give preference judgments on UAV performance through interval-valued membership degrees to reduce errors. In this paper, the UAV evaluation method is given as a three-way MADM problem with IVIFs. First, a general attribute framework is constructed by discussing the inuence factors on UAV performance and the battle information, and a method to determine the weight of attribute is given based on the superiority index of attribute. Second, IVIFs is used for the subjective judgment of the proposed method, and the conditional probability that the UAV can be selected is calculated based on MADM. Third, the classication of UAVs is obtained combined with the given loss functions of individual UAVs. Finally, a numerical example further illustrates the e ectiveness and advantage of the proposed method. This paper is the rst attempt to study the selection of UAVs based on the three-way MADM under the IVIFs environment. The other sections are set out as follows. Section 2 proposes the evaluation system of UAVs combat e ectiveness. In Section 3, we briey describe the proposed UAVs evaluation model based on a new three-way MADM method with IVIFs. A case study about the UAV selection in a battle shows the applicability and power of the introduced methodology in Section 4. Finally, concluding remarks and future directions are presented in Section 5. 2. Evaluation System of Unmanned Aerial Vehicles’ Combat Effectiveness Usually, specic battleeld scenarios determine the survivability and environmental adaptability of UAVs. With the continuous innovation of science and technology, war also appears with di erent characteristics of combat, for example, the battleeld space is more extensive, the operational command is more accurate, and the weapon killing speed is increased. All of these accurately provide intelligence for the battleeld and a basis for the formulation of accurate strategic, tactical strategies and special missions in each battle. In air combat, it is key to the current precision operations and national military strategy research. The scientic evaluation index system is an essential prerequisite for combat e ectiveness evaluation. Whether the selection of evaluation system index is proper or not is directly related to the evaluation result. Therefore, we should perceive the battleeld environment to determine UAV combat missions and select attributes of UAV combat e ectiveness to construct the decision framework. 2.1 Evaluation Attributes of Unmanned Aerial Vehicles’ Combat Effectiveness The evaluation system of UAVs combat e ectiveness should be established based on the basic elements of evaluation and the features of the object, which are the main factors inuencing the information warfare capability. It strives to respond to UAVs combat capability to its best and fully follow the principles of purpose, uniqueness, comprehensiveness and personality. Then, the main factors a ecting the optimal selection of procedural UAVs are determined. Suppose that the assessed attribute set is {c1, c2, . . . , c6}. The various attributes are as follows: c1 is the reconnaissance target capability. It is the ability to explore the operation target, which is mainly decided by the performance of airborne detection equipment and airborne radar. The main parameters include detection range, search angle, resolution and the ability to discover and identify the targets and operate UAVs. c2 is the battleeld exibility. This performance includes UAVs pitching agility, axial agility, high performance, conversion performance and other parameters. c3 is the attack capacity. It is the capability and quantity of the UAVs airborne equipment, mainly including the power range of the missile, the payload distance of the seeker, the angle of departure from the shaft and the e ective launch distance. c4 is the air survival ability. The parameters mainly include electronic countermeasures capability, navigation, radar reectance area and geometry size. c5 is the coordinated combat capability. It denotes the ability to coordinate operation and maintain uninterrupted communication among UAVs under a unied organization and command. c6 is the logistics support capability. It is the maintenance capability of UAVs. 2.2 The Determination Method of Attribute Weight The role of the attribute weights is vital in MADM problems, which can be obtained by the superiority index of attribute. Let {e1, e2, . . . , et} be the set of experts, and the weight of expert ek be λk with t k=1 λk = 1. Now, we discuss the method to determine the weights of the attributes. First, the denition of superiority index is given. Definition 1. Suppose that the priority order of attributes is cki1 c k i2 • • • ckimgiven by ek, denote r k ij as:","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"1 1","pages":""},"PeriodicalIF":0.8000,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"RAPID SELECTING UAVs FOR COMBAT BASED ON THREE-WAY MULTIPLE ATTRIBUTE DECISION\",\"authors\":\"Yuehao Yan, Zhiying Lv, Ping Huang, Jinbiao Yuan, Hao-cheng Long\",\"doi\":\"10.2316/J.2021.206-0605\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Unmanned aerial vehicles (UAVs) can carry out more and more dangerous missions and strike deep in the skies over hostile military sites. Thus, selecting appropriate UAVs to attend combat through rapid assessment is a hot topic in current research. In consideration of formulating practical evaluation as a three-way multiple attribute decision making (MADM) problem, a comprehensive assessment method based on interval-valued intuitionistic fuzzy set (IVIFs) is introduced under the context of determining the precision combat mission. First, the critical attributes of the UAV combat effectiveness are determined according to battlefield intelligence. Second, the attribute weights are computed by exploring the feature information of attribute orders given by experts. Third, the conditional probto collect more information to reach decision conclusions. It is a new research to combine a three-way decision algorithm and multiple attribute decision making (MADM) [13]\\u0085[17] in recent years. This hybrid method can consider both the MADM matrix and di erent loss functions for individual UAVs. In the application of decision, it is di cult for experts to give an accurate assessment with exact numbers due to the complexity of the battle. The denition of the intuitionistic fuzzy set (IFs) as an extension of the fuzzy number [18]\\u0085[20] was proposed by Atanassov, in which both membership and non-membership degrees were introduced. As a further extension of IFs, Atanassov and Gargov proposed the concept of interval-valued intuitionistic fuzzy set (IVIFs) [21]\\u0085[29]. It is clear that IVIFs enables experts to give preference judgments on UAV performance through interval-valued membership degrees to reduce errors. In this paper, the UAV evaluation method is given as a three-way MADM problem with IVIFs. First, a general attribute framework is constructed by discussing the inuence factors on UAV performance and the battle information, and a method to determine the weight of attribute is given based on the superiority index of attribute. Second, IVIFs is used for the subjective judgment of the proposed method, and the conditional probability that the UAV can be selected is calculated based on MADM. Third, the classication of UAVs is obtained combined with the given loss functions of individual UAVs. Finally, a numerical example further illustrates the e ectiveness and advantage of the proposed method. This paper is the rst attempt to study the selection of UAVs based on the three-way MADM under the IVIFs environment. The other sections are set out as follows. Section 2 proposes the evaluation system of UAVs combat e ectiveness. In Section 3, we briey describe the proposed UAVs evaluation model based on a new three-way MADM method with IVIFs. A case study about the UAV selection in a battle shows the applicability and power of the introduced methodology in Section 4. Finally, concluding remarks and future directions are presented in Section 5. 2. Evaluation System of Unmanned Aerial Vehicles’ Combat Effectiveness Usually, specic battleeld scenarios determine the survivability and environmental adaptability of UAVs. With the continuous innovation of science and technology, war also appears with di erent characteristics of combat, for example, the battleeld space is more extensive, the operational command is more accurate, and the weapon killing speed is increased. All of these accurately provide intelligence for the battleeld and a basis for the formulation of accurate strategic, tactical strategies and special missions in each battle. In air combat, it is key to the current precision operations and national military strategy research. The scientic evaluation index system is an essential prerequisite for combat e ectiveness evaluation. Whether the selection of evaluation system index is proper or not is directly related to the evaluation result. Therefore, we should perceive the battleeld environment to determine UAV combat missions and select attributes of UAV combat e ectiveness to construct the decision framework. 2.1 Evaluation Attributes of Unmanned Aerial Vehicles’ Combat Effectiveness The evaluation system of UAVs combat e ectiveness should be established based on the basic elements of evaluation and the features of the object, which are the main factors inuencing the information warfare capability. It strives to respond to UAVs combat capability to its best and fully follow the principles of purpose, uniqueness, comprehensiveness and personality. Then, the main factors a ecting the optimal selection of procedural UAVs are determined. Suppose that the assessed attribute set is {c1, c2, . . . , c6}. The various attributes are as follows: c1 is the reconnaissance target capability. It is the ability to explore the operation target, which is mainly decided by the performance of airborne detection equipment and airborne radar. The main parameters include detection range, search angle, resolution and the ability to discover and identify the targets and operate UAVs. c2 is the battleeld exibility. This performance includes UAVs pitching agility, axial agility, high performance, conversion performance and other parameters. c3 is the attack capacity. It is the capability and quantity of the UAVs airborne equipment, mainly including the power range of the missile, the payload distance of the seeker, the angle of departure from the shaft and the e ective launch distance. c4 is the air survival ability. The parameters mainly include electronic countermeasures capability, navigation, radar reectance area and geometry size. c5 is the coordinated combat capability. It denotes the ability to coordinate operation and maintain uninterrupted communication among UAVs under a unied organization and command. c6 is the logistics support capability. It is the maintenance capability of UAVs. 2.2 The Determination Method of Attribute Weight The role of the attribute weights is vital in MADM problems, which can be obtained by the superiority index of attribute. Let {e1, e2, . . . , et} be the set of experts, and the weight of expert ek be λk with t k=1 λk = 1. Now, we discuss the method to determine the weights of the attributes. First, the denition of superiority index is given. Definition 1. 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引用次数: 0
摘要
无人驾驶飞行器(uav)可以执行越来越危险的任务,并在敌对军事地点上空进行深入打击。因此,通过快速评估选择合适的无人机参加战斗是当前研究的热点问题。在精确作战任务确定的背景下,将实际评价问题表述为一个三向多属性决策问题,提出了一种基于区间值直觉模糊集的综合评价方法。首先,根据战场情报确定无人机作战效能的关键属性;其次,利用专家给出的属性阶的特征信息,计算属性权值;第三,有条件的证明,以收集更多的信息,以得出决策结论。将三向决策算法与多属性决策(MADM)相结合[13] [17]是近年来的一项新研究。这种混合方法可以同时考虑单个无人机的MADM矩阵和不同的损失函数。在决策应用中,由于战斗的复杂性,专家很难用精确的数字给出准确的评估。Atanassov将直觉模糊集(IFs)定义为模糊数[18] [20]的扩展,并引入隶属度和非隶属度。作为区间值直觉模糊集的进一步扩展,Atanassov和Gargov提出了区间值直觉模糊集(intervalue intuitionistic fuzzy set, IVIFs)[21] [29]的概念。很明显,ivif使专家能够通过区间值隶属度对无人机性能进行偏好判断,以减少误差。本文将无人机的评价方法描述为一个带有ivif的三向MADM问题。首先,通过讨论影响无人机性能和作战信息的因素,构建了通用属性框架,并给出了基于属性优势指标确定属性权重的方法;其次,利用ivif对所提方法进行主观判断,并基于MADM计算无人机可被选择的条件概率;第三,结合给定的单个无人机损失函数,得到了无人机的分类信息;最后,通过数值算例进一步说明了该方法的有效性和优越性。本文是第一次尝试研究基于三向MADM的IVIFs环境下无人机的选择。其他部分列示如下。第二节提出了无人机作战效能评估体系。在第3节中,我们简要描述了基于ivif的新型三向MADM方法的无人机评估模型。一个关于战斗中无人机选择的案例研究表明了第4节所介绍的方法的适用性和有效性。最后,在第5节中提出了结束语和未来的发展方向。2. 无人机作战效能评估体系通常,特定的战场场景决定了无人机的生存能力和环境适应性。随着科学技术的不断创新,战争也呈现出不同的作战特点,如战场空间更加广阔、作战指挥更加精确、武器杀伤速度加快等。这些都准确地为战场提供情报,并为每场战斗制定准确的战略、战术战略和特殊任务提供依据。在空战中,它是当前精确作战和国家军事战略研究的关键。科学的作战效能评价指标体系是作战效能评价的重要前提。评价体系指标选择的恰当与否,直接关系到评价结果。因此,需要感知战场环境来确定无人机作战任务,选择无人机作战效能属性来构建决策框架。2.1无人机作战效能评估属性根据评估的基本要素和目标的特点,建立无人机作战效能评估体系,这是影响无人机信息化作战能力的主要因素。力求最大限度地响应无人机作战能力,充分遵循目的性、独特性、综合性、个性原则。然后,确定了影响程序无人机优化选择的主要因素。假设评估的属性集为{c1, c2,…, c6}。各项属性如下:c1为侦察目标能力。它是对作战目标的探测能力,主要由机载探测设备和机载雷达的性能决定。 无人驾驶飞行器(uav)可以执行越来越危险的任务,并在敌对军事地点上空进行深入打击。因此,通过快速评估选择合适的无人机参加战斗是当前研究的热点问题。在精确作战任务确定的背景下,将实际评价问题表述为一个三向多属性决策问题,提出了一种基于区间值直觉模糊集的综合评价方法。首先,根据战场情报确定无人机作战效能的关键属性;其次,利用专家给出的属性阶的特征信息,计算属性权值;第三,有条件的证明,以收集更多的信息,以得出决策结论。将三向决策算法与多属性决策(MADM)相结合[13] [17]是近年来的一项新研究。这种混合方法可以同时考虑单个无人机的MADM矩阵和不同的损失函数。在决策应用中,由于战斗的复杂性,专家很难用精确的数字给出准确的评估。Atanassov将直觉模糊集(IFs)定义为模糊数[18] [20]的扩展,并引入隶属度和非隶属度。作为区间值直觉模糊集的进一步扩展,Atanassov和Gargov提出了区间值直觉模糊集(intervalue intuitionistic fuzzy set, IVIFs)[21] [29]的概念。很明显,ivif使专家能够通过区间值隶属度对无人机性能进行偏好判断,以减少误差。本文将无人机的评价方法描述为一个带有ivif的三向MADM问题。首先,通过讨论影响无人机性能和作战信息的因素,构建了通用属性框架,并给出了基于属性优势指标确定属性权重的方法;其次,利用ivif对所提方法进行主观判断,并基于MADM计算无人机可被选择的条件概率;第三,结合给定的单个无人机损失函数,得到了无人机的分类信息;最后,通过数值算例进一步说明了该方法的有效性和优越性。本文是第一次尝试研究基于三向MADM的IVIFs环境下无人机的选择。其他部分列示如下。第二节提出了无人机作战效能评估体系。在第3节中,我们简要描述了基于ivif的新型三向MADM方法的无人机评估模型。一个关于战斗中无人机选择的案例研究表明了第4节所介绍的方法的适用性和有效性。最后,在第5节中提出了结束语和未来的发展方向。2. 无人机作战效能评估体系通常,特定的战场场景决定了无人机的生存能力和环境适应性。随着科学技术的不断创新,战争也呈现出不同的作战特点,如战场空间更加广阔、作战指挥更加精确、武器杀伤速度加快等。这些都准确地为战场提供情报,并为每场战斗制定准确的战略、战术战略和特殊任务提供依据。在空战中,它是当前精确作战和国家军事战略研究的关键。科学的作战效能评价指标体系是作战效能评价的重要前提。评价体系指标选择的恰当与否,直接关系到评价结果。因此,需要感知战场环境来确定无人机作战任务,选择无人机作战效能属性来构建决策框架。2.1无人机作战效能评估属性根据评估的基本要素和目标的特点,建立无人机作战效能评估体系,这是影响无人机信息化作战能力的主要因素。力求最大限度地响应无人机作战能力,充分遵循目的性、独特性、综合性、个性原则。然后,确定了影响程序无人机优化选择的主要因素。假设评估的属性集为{c1, c2,…, c6}。各项属性如下:c1为侦察目标能力。它是对作战目标的探测能力,主要由机载探测设备和机载雷达的性能决定。 主要参数包括探测距离、搜索角度、分辨率以及发现和识别目标和操作无人机的能力。C2是战场的灵活性。该性能包括无人机俯仰敏捷性、轴向敏捷性、高性能、转换性能等参数。C3是攻击能力。它是无人机机载装备的能力和数量,主要包括导弹的功率范围、导引头的有效载荷距离、与轴的偏离角和有效发射距离。C4是空中生存能力。参数主要包括电子对抗能力、导航、雷达距离面积和几何尺寸。C5是协同作战能力。它是指在统一的组织和指挥下,无人机之间协调作战和保持不间断通信的能力。C6是后勤保障能力。它是无人机的维护能力。2.2属性权值的确定方法在MADM问题中,属性权值的作用至关重要,可以通过属性的优势指标来确定。让{e1, e2,…, et}为专家集合,专家周的权值为λk, t k=1 λk =1。现在,我们讨论确定属性权重的方法。首先,给出了优势指标的定义。定义1。设属性的优先级顺序为cki1 ck i2•••k ij,表示r k ij为: 主要参数包括探测距离、搜索角度、分辨率以及发现和识别目标和操作无人机的能力。C2是战场的灵活性。该性能包括无人机俯仰敏捷性、轴向敏捷性、高性能、转换性能等参数。C3是攻击能力。它是无人机机载装备的能力和数量,主要包括导弹的功率范围、导引头的有效载荷距离、与轴的偏离角和有效发射距离。C4是空中生存能力。参数主要包括电子对抗能力、导航、雷达距离面积和几何尺寸。C5是协同作战能力。它是指在统一的组织和指挥下,无人机之间协调作战和保持不间断通信的能力。C6是后勤保障能力。它是无人机的维护能力。2.2属性权值的确定方法在MADM问题中,属性权值的作用至关重要,可以通过属性的优势指标来确定。让{e1, e2,…, et}为专家集合,专家周的权值为λk, t k=1 λk =1。现在,我们讨论确定属性权重的方法。首先,给出了优势指标的定义。定义1。设属性的优先级顺序为cki1 ck i2•••k ij,表示r k ij为:
RAPID SELECTING UAVs FOR COMBAT BASED ON THREE-WAY MULTIPLE ATTRIBUTE DECISION
Unmanned aerial vehicles (UAVs) can carry out more and more dangerous missions and strike deep in the skies over hostile military sites. Thus, selecting appropriate UAVs to attend combat through rapid assessment is a hot topic in current research. In consideration of formulating practical evaluation as a three-way multiple attribute decision making (MADM) problem, a comprehensive assessment method based on interval-valued intuitionistic fuzzy set (IVIFs) is introduced under the context of determining the precision combat mission. First, the critical attributes of the UAV combat effectiveness are determined according to battlefield intelligence. Second, the attribute weights are computed by exploring the feature information of attribute orders given by experts. Third, the conditional probto collect more information to reach decision conclusions. It is a new research to combine a three-way decision algorithm and multiple attribute decision making (MADM) [13] [17] in recent years. This hybrid method can consider both the MADM matrix and di erent loss functions for individual UAVs. In the application of decision, it is di cult for experts to give an accurate assessment with exact numbers due to the complexity of the battle. The denition of the intuitionistic fuzzy set (IFs) as an extension of the fuzzy number [18] [20] was proposed by Atanassov, in which both membership and non-membership degrees were introduced. As a further extension of IFs, Atanassov and Gargov proposed the concept of interval-valued intuitionistic fuzzy set (IVIFs) [21] [29]. It is clear that IVIFs enables experts to give preference judgments on UAV performance through interval-valued membership degrees to reduce errors. In this paper, the UAV evaluation method is given as a three-way MADM problem with IVIFs. First, a general attribute framework is constructed by discussing the inuence factors on UAV performance and the battle information, and a method to determine the weight of attribute is given based on the superiority index of attribute. Second, IVIFs is used for the subjective judgment of the proposed method, and the conditional probability that the UAV can be selected is calculated based on MADM. Third, the classication of UAVs is obtained combined with the given loss functions of individual UAVs. Finally, a numerical example further illustrates the e ectiveness and advantage of the proposed method. This paper is the rst attempt to study the selection of UAVs based on the three-way MADM under the IVIFs environment. The other sections are set out as follows. Section 2 proposes the evaluation system of UAVs combat e ectiveness. In Section 3, we briey describe the proposed UAVs evaluation model based on a new three-way MADM method with IVIFs. A case study about the UAV selection in a battle shows the applicability and power of the introduced methodology in Section 4. Finally, concluding remarks and future directions are presented in Section 5. 2. Evaluation System of Unmanned Aerial Vehicles’ Combat Effectiveness Usually, specic battleeld scenarios determine the survivability and environmental adaptability of UAVs. With the continuous innovation of science and technology, war also appears with di erent characteristics of combat, for example, the battleeld space is more extensive, the operational command is more accurate, and the weapon killing speed is increased. All of these accurately provide intelligence for the battleeld and a basis for the formulation of accurate strategic, tactical strategies and special missions in each battle. In air combat, it is key to the current precision operations and national military strategy research. The scientic evaluation index system is an essential prerequisite for combat e ectiveness evaluation. Whether the selection of evaluation system index is proper or not is directly related to the evaluation result. Therefore, we should perceive the battleeld environment to determine UAV combat missions and select attributes of UAV combat e ectiveness to construct the decision framework. 2.1 Evaluation Attributes of Unmanned Aerial Vehicles’ Combat Effectiveness The evaluation system of UAVs combat e ectiveness should be established based on the basic elements of evaluation and the features of the object, which are the main factors inuencing the information warfare capability. It strives to respond to UAVs combat capability to its best and fully follow the principles of purpose, uniqueness, comprehensiveness and personality. Then, the main factors a ecting the optimal selection of procedural UAVs are determined. Suppose that the assessed attribute set is {c1, c2, . . . , c6}. The various attributes are as follows: c1 is the reconnaissance target capability. It is the ability to explore the operation target, which is mainly decided by the performance of airborne detection equipment and airborne radar. The main parameters include detection range, search angle, resolution and the ability to discover and identify the targets and operate UAVs. c2 is the battleeld exibility. This performance includes UAVs pitching agility, axial agility, high performance, conversion performance and other parameters. c3 is the attack capacity. It is the capability and quantity of the UAVs airborne equipment, mainly including the power range of the missile, the payload distance of the seeker, the angle of departure from the shaft and the e ective launch distance. c4 is the air survival ability. The parameters mainly include electronic countermeasures capability, navigation, radar reectance area and geometry size. c5 is the coordinated combat capability. It denotes the ability to coordinate operation and maintain uninterrupted communication among UAVs under a unied organization and command. c6 is the logistics support capability. It is the maintenance capability of UAVs. 2.2 The Determination Method of Attribute Weight The role of the attribute weights is vital in MADM problems, which can be obtained by the superiority index of attribute. Let {e1, e2, . . . , et} be the set of experts, and the weight of expert ek be λk with t k=1 λk = 1. Now, we discuss the method to determine the weights of the attributes. First, the denition of superiority index is given. Definition 1. Suppose that the priority order of attributes is cki1 c k i2 • • • ckimgiven by ek, denote r k ij as:
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First published in 1986, the International Journal of Robotics and Automation was one of the inaugural publications in the field of robotics. This journal covers contemporary developments in theory, design, and applications focused on all areas of robotics and automation systems, including new methods of machine learning, pattern recognition, biologically inspired evolutionary algorithms, fuzzy and neural networks in robotics and automation systems, computer vision, autonomous robots, human-robot interaction, microrobotics, medical robotics, mobile robots, biomechantronic systems, autonomous design of robotic systems, sensors, communication, and signal processing.