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270 results on '"Wu, Xiru"'

2. Deep Reinforcement Learning-based Multi-objective Path Planning on the Off-road Terrain Environment for Ground Vehicles

Author

Huang, Shuqiao, Wu, Xiru, and Huang, Guoming

Subjects
Computer Science - Robotics, Computer Science - Artificial Intelligence
Abstract

Due to the vastly different energy consumption between up-slope and down-slope, a path with the shortest length on a complex off-road terrain environment (2.5D map) is not always the path with the least energy consumption. For any energy-sensitive vehicle, realizing a good trade-off between distance and energy consumption in 2.5D path planning is significantly meaningful. In this paper, we propose a deep reinforcement learning-based 2.5D multi-objective path planning method (DMOP). The DMOP can efficiently find the desired path in three steps: (1) Transform the high-resolution 2.5D map into a small-size map. (2) Use a trained deep Q network (DQN) to find the desired path on the small-size map. (3) Build the planned path to the original high-resolution map using a path-enhanced method. In addition, the hybrid exploration strategy and reward shaping theory are applied to train the DQN. The reward function is constructed with the information of terrain, distance, and border. Simulation results show that the proposed method can finish the multi-objective 2.5D path planning task with significantly high efficiency. With similar planned paths, the speed of the proposed method is more than 100 times faster than that of the A* method and 30 times faster than that of H3DM method. Also, simulation proves that the method has powerful reasoning capability that enables it to perform arbitrary untrained planning tasks., Comment: 9 pages,8 figures

Published
2023

3. Finite-Time Quantized Output Synchronization of Discrete Fuzzy Semi-Markov Jump Systems with Stochastic Coupling Time-Varying Delay

Author

Liu, Biao, Wu, Xiru, Zhou, Ping, Lu, Yi, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, Fu, Yongling, editor, and Yang, Huihua, editor

Published
2024
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4. A VSLAM for Autonomous Driving Vehicles Based on Point-to-Epipolar Optimization

Author

Wu, Xiru, Luo, Wenhui, Liu, Biao, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, Fu, Yongling, editor, and Yang, Huihua, editor

Published
2024
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5. Dynamic Event-Triggered Based Coherent Formation Control for Multi-robot Systems

Author

Yang, Ziru, Wu, Xiru, Zhang, Tiantian, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, Fu, Yongling, editor, and Yang, Huihua, editor

Published
2024
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6. Improving the DWA Algorithm for Epidemic Prevention Robots Based on Road Guidance Lines

Author

Xu, Aoliang, Wu, Xiru, Zhao, Lun, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, Fu, Yongling, editor, and Yang, Huihua, editor

Published
2024
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7. Improved SLTV-MPC for Epidemic Prevention Robots Based on Artificial Potential Field

Author

Wu, Xiru, Shen, Keyang, Fan, Bingyu, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, Fu, Yongling, editor, and Yang, Huihua, editor

Published
2024
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9. Traffic Police Dynamic Gesture Recognition Based on Spatiotemporal Attention ST-GCN

Author

Wu, Xiru, Zhao, Yu, Chen, Qi, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, Fu, Yongling, editor, and Wang, Jiqiang, editor

Published
2023
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10. Heuristic-Based Bi-RRT* Path Planning Algorithm for Unmanned Systems in Complex Channel Environment

Author

Wu, Xiru, Wu, Rili, Jiang, Junce, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, Fu, Yongling, editor, and Wang, Jiqiang, editor

Published
2023
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11. Finite-Time H Synchronization Control of Piecewise Homogeneous Markov Jumping T-S Fuzzy Discrete Complex Networks Subject to Hybrid Attacks and Uncertainty

Author

Wu, Xiru, Zhang, Binlei, Zhang, Yuchong, Zhang, Yuqiu, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, Fu, Yongling, editor, and Wang, Jiqiang, editor

Published
2023
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12. Improving Unmanned Panoramic Perception Algorithm of DAFPN-YOLO

Author

Wu, Xiru, Lin, Yurui, Liu, Chao, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, Fu, Yongling, editor, and Wang, Jiqiang, editor

Published
2023
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13. Deep Reinforcement Learning-Based Multi-objective 3D Path Planning for Vehicles

Author

Huang, Shuqiao, Wu, Xiru, Huang, Guoming, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, Fu, Yongling, editor, and Wang, Jiqiang, editor

Published
2023
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15. Adaptive Sliding Mode Control of Quadrotor UAV Based on Neural Network

Author

Wu, Xiru, Jia, Jingtong, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, Fu, Yongling, editor, Yu, Zhiyuan, editor, and Zheng, Song, editor

Published
2022
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17. Fractional Integral Sliding Mode Control for Trajectory Tracking of Baxter Robot Manipulators

Author

Wu, Xiru, Jia, Jingtong, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, and Fu, Yongling, editor

Published
2021
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18. Fast Detection of Passion Fruit with Multi-class Based on YOLOv3

Author

Wu, Xiru, Tang, Rongchai, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Jia, Yingmin, editor, Zhang, Weicun, editor, and Fu, Yongling, editor

Published
2021
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25. Natural history and genetic study of LAMA2-related muscular dystrophy in a large Chinese cohort

Author

Tan, Dandan, Ge, Lin, Fan, Yanbin, Chang, Xingzhi, Wang, Shuang, Wei, Cuijie, Ding, Juan, Liu, Aijie, Wang, Shuo, Li, Xueying, Gao, Kai, Yang, Haipo, Que, Chengli, Huang, Zhen, Li, Chunde, Zhu, Ying, Mao, Bing, Jin, Bo, Hua, Ying, Zhang, Xiaoli, Zhang, Bingbing, Zhu, Wenhua, Zhang, Cheng, Wang, Yanjuan, Yuan, Yun, Jiang, Yuwu, Rutkowski, Anne, Bönnemann, Carsten G., Wu, Xiru, and Xiong, Hui

Published
2021
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32. Quantization-Based Event-Triggered H ∞ Consensus for Discrete-Time Markov Jump Fractional-Order Multiagent Systems with DoS Attacks.

Author

Lu, Yi, Wu, Xiru, Wang, Yaonan, Huang, Lihong, and Wei, Qingjin

Subjects
*DENIAL of service attacks, *MULTIAGENT systems, *MARKOVIAN jump linear systems, *LYAPUNOV stability, *STABILITY theory
Abstract

This paper investigates the H ∞ consensus problem of discrete-time Markov jump fractional-order multiagent systems (DTMJFOMASs) under denial-of-service (DoS) attacks. By applying the short-memory principle, we can obtain discrete-time Markov jump multiagent systems with partially unknown probabilities. A novel quantized event-triggering mechanism (QETM), based on a mode-dependent logarithmic quantizer, is proposed to enhance transmission efficiency among multiagents. A distributed controller with quantized output is developed. Sufficient conditions are provided to ensure the system achieves H ∞ consensus through Lyapunov stability theory. Finally, two examples are given to verify the effectiveness of the proposed model. [ABSTRACT FROM AUTHOR]

Published
2024
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39. Design of a passive concentric steering multi track omnidirectional mobile robot

Author

Wu Xiru and Wang Fang

Subjects
omni-directional mobile robot, multi-tracked structure, dead reckoning, Electronics, TK7800-8360
Abstract

A multi-tracked omnidirectional mobile robot is designed with four sets of passive concentric steering structure. The robot not only has the ability of omnidirectional movement, but also has the characteristics of smooth operation and strong load capacity. The robot uses the ST Nucleo-F446RE development board as the controller, uses the rotary potentiometer to measure the deflection angle of each track unit, and independently controls the 8 track movement through the motor driver to realize the omnidirectional movement of the robot. The experiment collects the velocity of each track and the deflection angle of each track unit. The trajectory of the robot in two kinds of motion is calculated by the dead reckoning method, and the omnidirectional movement ability of the robot is verified.

Published
2018
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43. Deep Reinforcement Learning-Based 2.5D Multi-Objective Path Planning for Ground Vehicles: Considering Distance and Energy Consumption.

Author

Wu, Xiru, Huang, Shuqiao, and Huang, Guoming

Subjects
ENERGY consumption, REINFORCEMENT learning, DEEP reinforcement learning
Abstract

Due to the vastly different energy consumption between up-slope and down-slope, a path with the shortest length in a complex off-road terrain environment (2.5D map) is not always the path with the least energy consumption. For any energy-sensitive vehicle, realizing a good trade-off between distance and energy consumption in 2.5D path planning is significantly meaningful. In this paper, we propose a deep reinforcement learning-based 2.5D multi-objective path planning method (DMOP). The DMOP can efficiently find the desired path in three steps: (1) transform the high-resolution 2.5D map into a small-size map, (2) use a trained deep Q network (DQN) to find the desired path on the small-size map, and (3) build the planned path to the original high-resolution map using a path-enhanced method. In addition, the hybrid exploration strategy and reward-shaping theory are applied to train the DQN. The reward function is constructed with the information of terrain, distance, and border. The simulation results show that the proposed method can finish the multi-objective 2.5D path planning task with significantly high efficiency and quality. Also, simulations prove that the method has powerful reasoning capability that enables it to perform arbitrary untrained planning tasks. [ABSTRACT FROM AUTHOR]

Published
2023
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