System upgrades in unmanned systems have made Unmanned Aerial Vehicle(UAV)-based patrolling and monitoring a preferred solution for ocean surveillance.However,dynamic environments and large-scale deployments pose sign...System upgrades in unmanned systems have made Unmanned Aerial Vehicle(UAV)-based patrolling and monitoring a preferred solution for ocean surveillance.However,dynamic environments and large-scale deployments pose significant challenges for efficient decision-making,necessitating a modular multiagent control system.Deep Reinforcement Learning(DRL)and Decision Tree(DT)have been utilized for these complex decision-making tasks,but each has its limitations:DRL is highly adaptive but lacks interpretability,while DT is inherently interpretable but has limited adaptability.To overcome these challenges,we propose the Adaptive Interpretable Decision Tree(AIDT),an evolutionary-based algorithm that is both adaptable to diverse environmental settings and highly interpretable in its decision-making processes.We first construct a Markov decision process(MDP)-based simulation environment using the Cooperative Submarine Search task as a representative scenario for training and testing the proposed method.Specifically,we use the heat map as a state variable to address the issue of multi-agent input state proliferation.Next,we introduce the curiosity-guiding intrinsic reward to encourage comprehensive exploration and enhance algorithm performance.Additionally,we incorporate decision tree size as an influence factor in the adaptation process to balance task completion with computational efficiency.To further improve the generalization capability of the decision tree,we apply a normalization method to ensure consistent processing of input states.Finally,we validate the proposed algorithm in different environmental settings,and the results demonstrate both its adaptability and interpretability.展开更多
A situation maintenance-based cooperative guidance strategy is proposed to intercept a high-speed and high-maneuverability target via inferior missiles.Reachability and relative motion analyses are conducted to develo...A situation maintenance-based cooperative guidance strategy is proposed to intercept a high-speed and high-maneuverability target via inferior missiles.Reachability and relative motion analyses are conducted to develop and pursue virtual targets,respectively.A two-stage guidance strategy under nonlinear kinematics is developed on the basis of virtual targets.The first stage optimizes the coverage and collision situation by pursuing virtual targets under specific angular constraints.The second stage subsequently intercepts the superior target based on the handover condition optimized by the first stage.Numerical simulation results are provided to compare the effectiveness and superiority of the proposed strategy with those of the reachability-based cooperative strategy(RCS),coverage-based cooperative guidance(CBCG)and augmented proportional navigation(APN)under various maneuvering modes.展开更多
This paper presents a mode-switching collaborative defense strategy for spacecraft pursuit-evasiondefense scenarios.In these scenarios,the pursuer tries to avoid the defender while capturing the evader,while the evade...This paper presents a mode-switching collaborative defense strategy for spacecraft pursuit-evasiondefense scenarios.In these scenarios,the pursuer tries to avoid the defender while capturing the evader,while the evader and defender form an alliance to prevent the pursuer from achieving its goal.First,the behavioral modes of the pursuer,including attack and avoidance modes,were established using differential game theory.These modes are then recognized by an interactive multiple model-matching algorithm(IMM),that uses several smooth variable structure filters to match the modes of the pursuer and update their probabilities in real time.Based on the linear-quadratic optimization theory,combined with the results of strategy identification,a two-way cooperative optimal strategy for the defender and evader is proposed,where the evader aids the defender to intercept the pursuer by performing luring maneuvers.Simulation results show that the interactive multi-model algorithm based on several smooth variable structure filters perform well in the strategy identification of the pursuer,and the cooperative defense strategy based on strategy identification has good interception performance when facing pursuers,who are able to flexibly adjust their game objectives.展开更多
This paper presents a fixed-time cooperative gui-dance method with impact angle constraints for multiple flight vehicles (MFV) to address the challenges of intercepting large maneuvering targets with difficulty and lo...This paper presents a fixed-time cooperative gui-dance method with impact angle constraints for multiple flight vehicles (MFV) to address the challenges of intercepting large maneuvering targets with difficulty and low precision. A coopera-tive guidance model is proposed, transforming the cooperative interception problem into a consensus problem based on the remaining flight time of the flight vehicles. First, the impact angle constraint is converted into the line of sight (LOS) angle con-straint, and a new fixed-time convergent non-singular terminal sliding surface is introduced, which resolves the singularity issue of the traditional sliding surfaces. With this approach, LOS angle rate and normal overloads can converge in fixed time, ensuring that the upper bound of the system convergence time is not affected by the initial value of the system. Furthermore, the maneuvering movement of the target is considered as a system disturbance, and an extended state observer is employed to estimate and compensate for it in the guidance law. Lastly, by applying consensus theory and distributed communication topology, the remaining flight time of each flight vehicle is syn-chronized to ensure that they intercept the target simulta-neously with different impact angles. Simulation experiments are conducted to validate the effectiveness of the proposed cooper-ative interception and guidance method.展开更多
To solve the problem of providing the best initial situation for terminal guidance when multiple missiles intercept multiple targets,a group cooperative midcourse guidance law(GCMGL)considering time-to-go is proposed....To solve the problem of providing the best initial situation for terminal guidance when multiple missiles intercept multiple targets,a group cooperative midcourse guidance law(GCMGL)considering time-to-go is proposed.Firstly,a threedimensional(3D)guidance model is established and a cooperative trajectory shaping guidance law is given.Secondly,for estimating the unknown target maneuvering acceleration,an adaptive disturbance observer(ADO)is designed,combining finitetime theory with a radial basis function(RBF)neural network,and the convergence of the estimation error is proven using Lyapunov stability theory.Then,to ensure time-to-go cooperation among missiles within the same group and across different groups,the group consensus protocols of virtual collision point mean and the inter-group cooperative consensus protocol are designed respectively.Based on the group consensus protocols,the virtual collision point cooperative guidance law is given,and the finite-time convergence is proved by Lyapunov stability theory.Simultaneously,combined with trajectory shaping guidance law,virtual collision point cooperative guidance law and the intergroup cooperative consensus protocol,the design of GCMGL considering time-to-go is given.Finally,numerical simulation results show the effectiveness and the superiority of the proposed GCMGL.展开更多
How multi-unmanned aerial vehicles(UAVs)carrying a payload pass an obstacle-dense environment is practically important.Up to now,there have been few results on safe motion planning for the multi-UAVs cooperative trans...How multi-unmanned aerial vehicles(UAVs)carrying a payload pass an obstacle-dense environment is practically important.Up to now,there have been few results on safe motion planning for the multi-UAVs cooperative transportation system(CTS)to pass through such an environment.The prob-lem is challenging because it is difficult to analyze and explicitly take into account the swing motion of the payload in planning.In this paper,a modeling method of virtual tube is proposed by fus-ing the advantages of the existing modeling algorithm for regu-lar virtual tube and the expansion environment method.The pro-posed method can not only generate a safe and smooth tube for UAVs,but also ensure the payload stays away from the dense obstacles.Simulation results show the effectiveness of the method and the safety of the planned tube.展开更多
Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net...Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net network based on a communication mechanism is introduced into a deep reinforcement learning algorithm to solve the multi-agent problem. A layer of gated recurrent unit(GRU) is added to the actor-network structure to remember historical environmental states. Subsequently,another GRU is designed as a communication channel in the Comm Net core network layer to refine communication information between UAVs. Finally, the simulation results of the algorithm in two sets of scenarios are given, and the results show that the method has good effectiveness and applicability.展开更多
Improvement of integrated battlefield situational awareness in complex environments involving dynamic factors such as restricted communications and electromagnetic interference(EMI)has become a contentious research pr...Improvement of integrated battlefield situational awareness in complex environments involving dynamic factors such as restricted communications and electromagnetic interference(EMI)has become a contentious research problem.In certain mission environments,due to the impact of many interference sources on real-time communication or mission requirements such as the need to implement communication regulations,the mission stages are represented as a dynamic combination of several communication-available and communication-unavailable stages.Furthermore,the data interaction between unmanned aerial vehicles(UAVs)can only be performed in specific communication-available stages.Traditional cooperative search algorithms cannot handle such situations well.To solve this problem,this study constructed a distributed model predictive control(DMPC)architecture for a collaborative control of UAVs and used the Voronoi diagram generation method to re-plan the search areas of all UAVs in real time to avoid repetition of search areas and UAV collisions while improving the search efficiency and safety factor.An attention mechanism ant-colony optimization(AACO)algorithm is proposed for UAV search-control decision planning.The search strategy is adaptively updated by introducing an attention mechanism for regular instruction information,a priori information,and emergent information of the mission to satisfy different search expectations to the maximum extent.Simulation results show that the proposed algorithm achieves better search performance than traditional algorithms in restricted communication constraint scenarios.展开更多
To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,th...To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,the relative motion equations between multiple missiles and targets are established,and the topological model among multiple agents is considered.Secondly,based on the temporal consistency constraint,a cooperative guidance law for simultaneous arrival with finite-time convergence is derived.Finally,the unknown target maneuver-ing is regarded as bounded interference.Based on the second-order sliding mode theory,a super-twisting sliding mode observer is devised to observe and track the bounded interfer-ence,and the stability of the observer is proved.Compared with the existing research,this approach only needs to obtain the sliding mode variable which simplifies the design process.The simulation results show that the designed cooperative guidance law for maneuvering targets achieves the expected effect.It ensures successful cooperative attacks,even when confronted with strong maneuvering targets.展开更多
As the unmanned weap system-of systems(UWSoS)becomes complex,the inevitable uncertain interference gradu-ally increases,which leads to a strong emphasis on the resilience of UWSoS.Hence,this paper presents a resilienc...As the unmanned weap system-of systems(UWSoS)becomes complex,the inevitable uncertain interference gradu-ally increases,which leads to a strong emphasis on the resilience of UWSoS.Hence,this paper presents a resilience-driven cooperative reconfiguration strategy to enhance the resilience of UWSoS.First,a unified resilience-driven coopera-tive reconfiguration strategy framework is designed to guide the UWSoS resilience enhancement.Subsequently,a cooperative reconfiguration strategy algorithm is proposed to identify the optimal cooperative reconfiguration sequence,combining the cooperative pair resilience contribution index(CPRCI)and coop-erative pair importance index(CPII).At last,the effectiveness and superiority of the proposed algorithm are demonstrated through various attack scenario simulations that include differ-ent attack modes and intensities.The analysis results can pro-vide a reference for decision-makers to manage UWSoS.展开更多
When performing tasks,unmanned clusters often face a variety of strategy choices.One of the key issues in unmanned cluster tasks is the method through which to design autonomous collaboration and cooperative evolution...When performing tasks,unmanned clusters often face a variety of strategy choices.One of the key issues in unmanned cluster tasks is the method through which to design autonomous collaboration and cooperative evolution mechanisms that allow for unmanned clusters to maximize their overall task effective-ness under the condition of strategic diversity.This paper ana-lyzes these task requirements from three perspectives:the diver-sity of the decision space,information network construction,and the autonomous collaboration mechanism.Then,this paper pro-poses a method for solving the problem of strategy selection diversity under two network structures.Next,this paper presents a Moran-rule-based evolution dynamics model for unmanned cluster strategies and a vision-driven-mechanism-based evolu-tion dynamics model for unmanned cluster strategy in the con-text of strategy selection diversity according to various unmanned cluster application scenarios.Finally,this paper pro-vides a simulation analysis of the effects of relevant parameters such as the payoff factor and cluster size on cooperative evolu-tion in autonomous cluster collaboration for the two types of models.On this basis,this paper presents advice for effectively addressing diverse choices in unmanned cluster tasks,thereby providing decision support for practical applications of unmanned cluster tasks.展开更多
Cooperative driving around intersections has aroused increasing interest in the last five years.Meanwhile,driving safety in non-signalized intersections has become an issue that has attracted attention globally.In vie...Cooperative driving around intersections has aroused increasing interest in the last five years.Meanwhile,driving safety in non-signalized intersections has become an issue that has attracted attention globally.In view of the potential collision risk when more than three vehicles approach a non-signalized intersection from different directions,we propose a driving model using cooperative game theory.First,the characteristic functions of this model are primarily established on each vehicle’s profit function and include safety,rapidity and comfort indicators.Second,the Shapley theorem is adopted,and its group rationality,individual rationality,and uniqueness are proved to be suitable for the characteristic functions of the model.Following this,different drivers’characteristics are considered.In order to simplify the calculation process,a zero-mean normalization method is introduced.In addition,a genetic algorithm method is adopted to search an optimal strategy set in the constrained multi-objective optimization problem.Finally,the model is confirmed as valid after simulation with a series of initial conditions.展开更多
Particle swarm optimization （PSO） is a new heuristic algorithm which has been applied to many optimization problems successfully. Attribute reduction is a key studying point of the rough set theory, and it has been ...Particle swarm optimization （PSO） is a new heuristic algorithm which has been applied to many optimization problems successfully. Attribute reduction is a key studying point of the rough set theory, and it has been proven that computing minimal reduc- tion of decision tables is a non-derterministic polynomial （NP）-hard problem. A new cooperative extended attribute reduction algorithm named Co-PSAR based on improved PSO is proposed, in which the cooperative evolutionary strategy with suitable fitness func- tions is involved to learn a good hypothesis for accelerating the optimization of searching minimal attribute reduction. Experiments on Benchmark functions and University of California, Irvine （UCI） data sets, compared with other algorithms, verify the superiority of the Co-PSAR algorithm in terms of the convergence speed, efficiency and accuracy for the attribute reduction.展开更多
Target distribution in cooperative combat is a difficult and emphases. We build up the optimization model according to the rule of fire distribution. We have researched on the optimization model with BOA. The BOA can ...Target distribution in cooperative combat is a difficult and emphases. We build up the optimization model according to the rule of fire distribution. We have researched on the optimization model with BOA. The BOA can estimate the joint probability distribution of the variables with Bayesian network, and the new candidate solutions also can be generated by the joint distribution. The simulation example verified that the method could be used to solve the complex question, the operation was quickly and the solution was best.展开更多
The symbol-error-rate（SER） and power allocation for hybrid cooperative（HC） transmission system are investigated.Closed-form SER expression is derived by using the moment generating function（MGF）-based approach.H...The symbol-error-rate（SER） and power allocation for hybrid cooperative（HC） transmission system are investigated.Closed-form SER expression is derived by using the moment generating function（MGF）-based approach.However,the resultant SER contains an MGF of the harmonic mean of two independent random variables（RVs）,which is not tractable in SER analysis.We present a simple MGF expression of the harmonic mean of two independent RVs which avoids the hypergeometric functions used commonly in previous studies.Using the simple MGF,closed-form SER for HC system with M-ary phase shift keying（M-PSK） signals is provided.Further,an approximation as well as an upper bound of the SER is presented.It is shown that the SER approximation is asymptotically tight.Based on the tight SER approximation,the power allocation of the HC system is investigated.It is shown that the optimal power allocation does not depend on the fading parameters of the source-destination（SD） channel and it only depends on the source-relay（SR） and relay-destination（RD） channels.Moreover,the performance gain of the power allocation depends on the ratio of the channel quality between RD and SR.With the increase of this ratio,more performance gain can be acquired.展开更多
Based on multiple unmanned aerial vehicles（UAVs） flight at a constant altitude,a fault-tolerant cooperative localization algorithm against global positioning system（GPS） signal loss due to GPS receiver malfunction...Based on multiple unmanned aerial vehicles（UAVs） flight at a constant altitude,a fault-tolerant cooperative localization algorithm against global positioning system（GPS） signal loss due to GPS receiver malfunction is proposed.Contrast to the traditional means with single UAV,the proposed method is based on the use of inter-UAV relative range measurements against GPS signal loss and more suitable for the small-size and low-cost UAV applications.Firstly,for re-localizing an UAV with a malfunction in its GPS receiver,an algorithm which makes use of any other three healthy UAVs in the cooperative flight as the reference points for re-localization is proposed.Secondly,by using the relative ranges from the faulty UAV to the other three UAVs,its horizontal location can be determined after the GPS signal is lost.In order to improve an accuracy of the localization,a Kalman filter is further exploited to provide the estimated location of the UAV with the GPS signal loss.The Kalman filter calculates the variance of observations in terms of horizontal dilution of positioning（HDOP） automatically.Then,during each discrete computing time step,the best reference points are selected adaptively by minimizing the HDOP.Finally,two simulation examples in Matlab/Simulink environment with five UAVs in cooperative flight are shown to evaluate the effectiveness of the proposed method.展开更多
The accurate detection of cooperative targets plays a key and foundational role in unmanned aerial vehicle (UAV) landing autonomously. The standard method based on fixed threshold is too susceptible to both illuminati...The accurate detection of cooperative targets plays a key and foundational role in unmanned aerial vehicle (UAV) landing autonomously. The standard method based on fixed threshold is too susceptible to both illumination variations and interference. To overcome issues above, a robust detection algorithm with triple constraints for cooperative targets based on spectral residual (TCSR) is proposed. Firstly, by designing an asymmetric cooperative target, which comprises red background, green H and triangle target, the captured original image is converted into a Lab color space, whose saliency map is yielded by constructing the spectral residual. Then, the triple constraints are developed according to the prior knowledge of the cooperative target. Finally, the salient region in saliency map is considered as the cooperative target, and it meets the triple constraints. Experimental results in complex environments show that the proposed TCSR outperforms the standard methods in higher detection accuracy and lower false alarm rate.展开更多
文摘System upgrades in unmanned systems have made Unmanned Aerial Vehicle(UAV)-based patrolling and monitoring a preferred solution for ocean surveillance.However,dynamic environments and large-scale deployments pose significant challenges for efficient decision-making,necessitating a modular multiagent control system.Deep Reinforcement Learning(DRL)and Decision Tree(DT)have been utilized for these complex decision-making tasks,but each has its limitations:DRL is highly adaptive but lacks interpretability,while DT is inherently interpretable but has limited adaptability.To overcome these challenges,we propose the Adaptive Interpretable Decision Tree(AIDT),an evolutionary-based algorithm that is both adaptable to diverse environmental settings and highly interpretable in its decision-making processes.We first construct a Markov decision process(MDP)-based simulation environment using the Cooperative Submarine Search task as a representative scenario for training and testing the proposed method.Specifically,we use the heat map as a state variable to address the issue of multi-agent input state proliferation.Next,we introduce the curiosity-guiding intrinsic reward to encourage comprehensive exploration and enhance algorithm performance.Additionally,we incorporate decision tree size as an influence factor in the adaptation process to balance task completion with computational efficiency.To further improve the generalization capability of the decision tree,we apply a normalization method to ensure consistent processing of input states.Finally,we validate the proposed algorithm in different environmental settings,and the results demonstrate both its adaptability and interpretability.
基金supported by the National Natural Science Foundation of China(Grant No.62203362)the Natural Science Basic Research Program of Shaanxi(Grant No.2023-JC-QN-0569)。
文摘A situation maintenance-based cooperative guidance strategy is proposed to intercept a high-speed and high-maneuverability target via inferior missiles.Reachability and relative motion analyses are conducted to develop and pursue virtual targets,respectively.A two-stage guidance strategy under nonlinear kinematics is developed on the basis of virtual targets.The first stage optimizes the coverage and collision situation by pursuing virtual targets under specific angular constraints.The second stage subsequently intercepts the superior target based on the handover condition optimized by the first stage.Numerical simulation results are provided to compare the effectiveness and superiority of the proposed strategy with those of the reachability-based cooperative strategy(RCS),coverage-based cooperative guidance(CBCG)and augmented proportional navigation(APN)under various maneuvering modes.
基金the Science and Technology Department,Heilongjiang Province under Grant Agreement No JJ2022LH0315。
文摘This paper presents a mode-switching collaborative defense strategy for spacecraft pursuit-evasiondefense scenarios.In these scenarios,the pursuer tries to avoid the defender while capturing the evader,while the evader and defender form an alliance to prevent the pursuer from achieving its goal.First,the behavioral modes of the pursuer,including attack and avoidance modes,were established using differential game theory.These modes are then recognized by an interactive multiple model-matching algorithm(IMM),that uses several smooth variable structure filters to match the modes of the pursuer and update their probabilities in real time.Based on the linear-quadratic optimization theory,combined with the results of strategy identification,a two-way cooperative optimal strategy for the defender and evader is proposed,where the evader aids the defender to intercept the pursuer by performing luring maneuvers.Simulation results show that the interactive multi-model algorithm based on several smooth variable structure filters perform well in the strategy identification of the pursuer,and the cooperative defense strategy based on strategy identification has good interception performance when facing pursuers,who are able to flexibly adjust their game objectives.
基金supported by the National Natural Science Foundation of China(61903099)the Natural Science Foundation of Heilongjiang Province(LH2020F025)+2 种基金the Project of Science and Technology Research Program of Chongqing Education Commission of China(KJZD-K20200470)the Postdoctoral Science Foundation of China(2021M690812)the Postdoctoral Science Fund of Heilongjiang Province(LBH-Z21048).
文摘This paper presents a fixed-time cooperative gui-dance method with impact angle constraints for multiple flight vehicles (MFV) to address the challenges of intercepting large maneuvering targets with difficulty and low precision. A coopera-tive guidance model is proposed, transforming the cooperative interception problem into a consensus problem based on the remaining flight time of the flight vehicles. First, the impact angle constraint is converted into the line of sight (LOS) angle con-straint, and a new fixed-time convergent non-singular terminal sliding surface is introduced, which resolves the singularity issue of the traditional sliding surfaces. With this approach, LOS angle rate and normal overloads can converge in fixed time, ensuring that the upper bound of the system convergence time is not affected by the initial value of the system. Furthermore, the maneuvering movement of the target is considered as a system disturbance, and an extended state observer is employed to estimate and compensate for it in the guidance law. Lastly, by applying consensus theory and distributed communication topology, the remaining flight time of each flight vehicle is syn-chronized to ensure that they intercept the target simulta-neously with different impact angles. Simulation experiments are conducted to validate the effectiveness of the proposed cooper-ative interception and guidance method.
基金supported by the National Natural Science Foundation of China(62003264).
文摘To solve the problem of providing the best initial situation for terminal guidance when multiple missiles intercept multiple targets,a group cooperative midcourse guidance law(GCMGL)considering time-to-go is proposed.Firstly,a threedimensional(3D)guidance model is established and a cooperative trajectory shaping guidance law is given.Secondly,for estimating the unknown target maneuvering acceleration,an adaptive disturbance observer(ADO)is designed,combining finitetime theory with a radial basis function(RBF)neural network,and the convergence of the estimation error is proven using Lyapunov stability theory.Then,to ensure time-to-go cooperation among missiles within the same group and across different groups,the group consensus protocols of virtual collision point mean and the inter-group cooperative consensus protocol are designed respectively.Based on the group consensus protocols,the virtual collision point cooperative guidance law is given,and the finite-time convergence is proved by Lyapunov stability theory.Simultaneously,combined with trajectory shaping guidance law,virtual collision point cooperative guidance law and the intergroup cooperative consensus protocol,the design of GCMGL considering time-to-go is given.Finally,numerical simulation results show the effectiveness and the superiority of the proposed GCMGL.
基金supported by the National Natural Science Foundation of China(6237338661973327).
文摘How multi-unmanned aerial vehicles(UAVs)carrying a payload pass an obstacle-dense environment is practically important.Up to now,there have been few results on safe motion planning for the multi-UAVs cooperative transportation system(CTS)to pass through such an environment.The prob-lem is challenging because it is difficult to analyze and explicitly take into account the swing motion of the payload in planning.In this paper,a modeling method of virtual tube is proposed by fus-ing the advantages of the existing modeling algorithm for regu-lar virtual tube and the expansion environment method.The pro-posed method can not only generate a safe and smooth tube for UAVs,but also ensure the payload stays away from the dense obstacles.Simulation results show the effectiveness of the method and the safety of the planned tube.
基金supported in part by the National Key Laboratory of Air-based Information Perception and Fusion and the Aeronautical Science Foundation of China (Grant No. 20220001068001)National Natural Science Foundation of China (Grant No.61673327)+1 种基金Natural Science Basic Research Plan in Shaanxi Province,China (Grant No. 2023-JC-QN-0733)China IndustryUniversity-Research Innovation Foundation (Grant No. 2022IT188)。
文摘Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net network based on a communication mechanism is introduced into a deep reinforcement learning algorithm to solve the multi-agent problem. A layer of gated recurrent unit(GRU) is added to the actor-network structure to remember historical environmental states. Subsequently,another GRU is designed as a communication channel in the Comm Net core network layer to refine communication information between UAVs. Finally, the simulation results of the algorithm in two sets of scenarios are given, and the results show that the method has good effectiveness and applicability.
基金the support of the National Natural Science Foundation of China(Grant No.62076204)the Seed Foundation of Innovation and Creation for Graduate Students in Northwestern Polytechnical University(Grant No.CX2020019)in part by the China Postdoctoral Science Foundation(Grants No.2021M700337)。
文摘Improvement of integrated battlefield situational awareness in complex environments involving dynamic factors such as restricted communications and electromagnetic interference(EMI)has become a contentious research problem.In certain mission environments,due to the impact of many interference sources on real-time communication or mission requirements such as the need to implement communication regulations,the mission stages are represented as a dynamic combination of several communication-available and communication-unavailable stages.Furthermore,the data interaction between unmanned aerial vehicles(UAVs)can only be performed in specific communication-available stages.Traditional cooperative search algorithms cannot handle such situations well.To solve this problem,this study constructed a distributed model predictive control(DMPC)architecture for a collaborative control of UAVs and used the Voronoi diagram generation method to re-plan the search areas of all UAVs in real time to avoid repetition of search areas and UAV collisions while improving the search efficiency and safety factor.An attention mechanism ant-colony optimization(AACO)algorithm is proposed for UAV search-control decision planning.The search strategy is adaptively updated by introducing an attention mechanism for regular instruction information,a priori information,and emergent information of the mission to satisfy different search expectations to the maximum extent.Simulation results show that the proposed algorithm achieves better search performance than traditional algorithms in restricted communication constraint scenarios.
基金supported by the Funds for the Central Universities。
文摘To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,the relative motion equations between multiple missiles and targets are established,and the topological model among multiple agents is considered.Secondly,based on the temporal consistency constraint,a cooperative guidance law for simultaneous arrival with finite-time convergence is derived.Finally,the unknown target maneuver-ing is regarded as bounded interference.Based on the second-order sliding mode theory,a super-twisting sliding mode observer is devised to observe and track the bounded interfer-ence,and the stability of the observer is proved.Compared with the existing research,this approach only needs to obtain the sliding mode variable which simplifies the design process.The simulation results show that the designed cooperative guidance law for maneuvering targets achieves the expected effect.It ensures successful cooperative attacks,even when confronted with strong maneuvering targets.
基金This work was supported by Ph.D.Intelligent Innovation Foundation Project(201-CXCY-A01-08-19-01)Science and Technology on Information System Engineering Laboratory(05202007).
文摘As the unmanned weap system-of systems(UWSoS)becomes complex,the inevitable uncertain interference gradu-ally increases,which leads to a strong emphasis on the resilience of UWSoS.Hence,this paper presents a resilience-driven cooperative reconfiguration strategy to enhance the resilience of UWSoS.First,a unified resilience-driven coopera-tive reconfiguration strategy framework is designed to guide the UWSoS resilience enhancement.Subsequently,a cooperative reconfiguration strategy algorithm is proposed to identify the optimal cooperative reconfiguration sequence,combining the cooperative pair resilience contribution index(CPRCI)and coop-erative pair importance index(CPII).At last,the effectiveness and superiority of the proposed algorithm are demonstrated through various attack scenario simulations that include differ-ent attack modes and intensities.The analysis results can pro-vide a reference for decision-makers to manage UWSoS.
基金supported by the National Natural Science Foundation of China(72471240).
文摘When performing tasks,unmanned clusters often face a variety of strategy choices.One of the key issues in unmanned cluster tasks is the method through which to design autonomous collaboration and cooperative evolution mechanisms that allow for unmanned clusters to maximize their overall task effective-ness under the condition of strategic diversity.This paper ana-lyzes these task requirements from three perspectives:the diver-sity of the decision space,information network construction,and the autonomous collaboration mechanism.Then,this paper pro-poses a method for solving the problem of strategy selection diversity under two network structures.Next,this paper presents a Moran-rule-based evolution dynamics model for unmanned cluster strategies and a vision-driven-mechanism-based evolu-tion dynamics model for unmanned cluster strategy in the con-text of strategy selection diversity according to various unmanned cluster application scenarios.Finally,this paper pro-vides a simulation analysis of the effects of relevant parameters such as the payoff factor and cluster size on cooperative evolu-tion in autonomous cluster collaboration for the two types of models.On this basis,this paper presents advice for effectively addressing diverse choices in unmanned cluster tasks,thereby providing decision support for practical applications of unmanned cluster tasks.
基金Project(61673233)supported by the National Natural Science Foundation of ChinaProject(D171100006417003)supported by Beijing Municipal Science and Technology Program,China
文摘Cooperative driving around intersections has aroused increasing interest in the last five years.Meanwhile,driving safety in non-signalized intersections has become an issue that has attracted attention globally.In view of the potential collision risk when more than three vehicles approach a non-signalized intersection from different directions,we propose a driving model using cooperative game theory.First,the characteristic functions of this model are primarily established on each vehicle’s profit function and include safety,rapidity and comfort indicators.Second,the Shapley theorem is adopted,and its group rationality,individual rationality,and uniqueness are proved to be suitable for the characteristic functions of the model.Following this,different drivers’characteristics are considered.In order to simplify the calculation process,a zero-mean normalization method is introduced.In addition,a genetic algorithm method is adopted to search an optimal strategy set in the constrained multi-objective optimization problem.Finally,the model is confirmed as valid after simulation with a series of initial conditions.
基金supported by the National Natural Science Foundation of China (60873069 61171132)+3 种基金the Jiangsu Government Scholarship for Overseas Studies (JS-2010-K005)the Funding of Jiangsu Innovation Program for Graduate Education (CXZZ11 0219)the Open Project Program of Jiangsu Provincial Key Laboratory of Computer Information Processing Technology (KJS1023)the Applying Study Foundation of Nantong (BK2011062)
文摘Particle swarm optimization （PSO） is a new heuristic algorithm which has been applied to many optimization problems successfully. Attribute reduction is a key studying point of the rough set theory, and it has been proven that computing minimal reduc- tion of decision tables is a non-derterministic polynomial （NP）-hard problem. A new cooperative extended attribute reduction algorithm named Co-PSAR based on improved PSO is proposed, in which the cooperative evolutionary strategy with suitable fitness func- tions is involved to learn a good hypothesis for accelerating the optimization of searching minimal attribute reduction. Experiments on Benchmark functions and University of California, Irvine （UCI） data sets, compared with other algorithms, verify the superiority of the Co-PSAR algorithm in terms of the convergence speed, efficiency and accuracy for the attribute reduction.
基金This project was supported by the Fund of College Doctor Degree (20020699009)
文摘Target distribution in cooperative combat is a difficult and emphases. We build up the optimization model according to the rule of fire distribution. We have researched on the optimization model with BOA. The BOA can estimate the joint probability distribution of the variables with Bayesian network, and the new candidate solutions also can be generated by the joint distribution. The simulation example verified that the method could be used to solve the complex question, the operation was quickly and the solution was best.
基金supported by the National Basic Research Program of China (973 Program) (2010CB731803)the National Science Foundation for Innovative Research Groups of China (60921001)
文摘The symbol-error-rate（SER） and power allocation for hybrid cooperative（HC） transmission system are investigated.Closed-form SER expression is derived by using the moment generating function（MGF）-based approach.However,the resultant SER contains an MGF of the harmonic mean of two independent random variables（RVs）,which is not tractable in SER analysis.We present a simple MGF expression of the harmonic mean of two independent RVs which avoids the hypergeometric functions used commonly in previous studies.Using the simple MGF,closed-form SER for HC system with M-ary phase shift keying（M-PSK） signals is provided.Further,an approximation as well as an upper bound of the SER is presented.It is shown that the SER approximation is asymptotically tight.Based on the tight SER approximation,the power allocation of the HC system is investigated.It is shown that the optimal power allocation does not depend on the fading parameters of the source-destination（SD） channel and it only depends on the source-relay（SR） and relay-destination（RD） channels.Moreover,the performance gain of the power allocation depends on the ratio of the channel quality between RD and SR.With the increase of this ratio,more performance gain can be acquired.
基金supported by the National Natural Science Foundation of China(60974146)the Natural Science and Engineering Research Council of Canada(NSERC)
文摘Based on multiple unmanned aerial vehicles（UAVs） flight at a constant altitude,a fault-tolerant cooperative localization algorithm against global positioning system（GPS） signal loss due to GPS receiver malfunction is proposed.Contrast to the traditional means with single UAV,the proposed method is based on the use of inter-UAV relative range measurements against GPS signal loss and more suitable for the small-size and low-cost UAV applications.Firstly,for re-localizing an UAV with a malfunction in its GPS receiver,an algorithm which makes use of any other three healthy UAVs in the cooperative flight as the reference points for re-localization is proposed.Secondly,by using the relative ranges from the faulty UAV to the other three UAVs,its horizontal location can be determined after the GPS signal is lost.In order to improve an accuracy of the localization,a Kalman filter is further exploited to provide the estimated location of the UAV with the GPS signal loss.The Kalman filter calculates the variance of observations in terms of horizontal dilution of positioning（HDOP） automatically.Then,during each discrete computing time step,the best reference points are selected adaptively by minimizing the HDOP.Finally,two simulation examples in Matlab/Simulink environment with five UAVs in cooperative flight are shown to evaluate the effectiveness of the proposed method.
基金supported by the National Natural Science Foundation of China(61135001)the Scientific Research Program of Shaanxi Provincial Department of Education(16JK1499)+2 种基金the Doctoral Fund of Xi’an University of Science and Technology(2015QDJ007)the Cultivation of Xi’an University of Science and Technology(2014015)the Ministry of Education Key Laboratory of Information Fusion Technology(LIFT2015-G-1)
文摘The accurate detection of cooperative targets plays a key and foundational role in unmanned aerial vehicle (UAV) landing autonomously. The standard method based on fixed threshold is too susceptible to both illumination variations and interference. To overcome issues above, a robust detection algorithm with triple constraints for cooperative targets based on spectral residual (TCSR) is proposed. Firstly, by designing an asymmetric cooperative target, which comprises red background, green H and triangle target, the captured original image is converted into a Lab color space, whose saliency map is yielded by constructing the spectral residual. Then, the triple constraints are developed according to the prior knowledge of the cooperative target. Finally, the salient region in saliency map is considered as the cooperative target, and it meets the triple constraints. Experimental results in complex environments show that the proposed TCSR outperforms the standard methods in higher detection accuracy and lower false alarm rate.
