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End-to-end rate-based congestion control with random loss:convergence and stability 被引量:2
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作者 Sun Wei Tian Naishuo +1 位作者 Li Shiyong Guan Xinping 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2008年第6期1208-1214,共7页
The convergence and stability analysis for two end-to-end rate-based congestion control algorithms with unavoidable random loss in packets are presented, which can be caused by, for example, errors on wireless links. ... The convergence and stability analysis for two end-to-end rate-based congestion control algorithms with unavoidable random loss in packets are presented, which can be caused by, for example, errors on wireless links. The convergence rates of these two algorithms are analyzed by linearizing them around their equilibrium points, since they are globally stable and can converge to their unique equilibrium points. Some sufficient conditions for local stability in the presence of round-trip delay are obtained based on the general Nyquist criterion of stability. The stability conditions can be considered to be more general. If random loss in the first congestion control algorithm is not considered, they reduce to the local stability conditions which have been obtained in some literatures. Furthermore, sufficient conditions for local stability of a new congestion control algorithm have also been obtained if random loss is not considered in the second congestion control algorithm. 展开更多
关键词 congestion control random loss DELAY CONVERGENCE STABILITY Nyquist criterion.
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Practical approach to determining traffic congestion propagation boundary due to traffic incidents 被引量:2
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作者 费文鹏 宋国华 +2 位作者 张凡 高永 于雷 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第2期413-422,共10页
A practical approach for predicting the congestion boundary due to traffic incidents was proposed. Based on the kinematic wave theory and Van Aerde single-regime flow model, a model for estimating the congestion propa... A practical approach for predicting the congestion boundary due to traffic incidents was proposed. Based on the kinematic wave theory and Van Aerde single-regime flow model, a model for estimating the congestion propagation speed for the basic road segment was developed. Historical traffic flow data were used to analyze the time variant characteristics of the urban traffic flow for each road type. Then, the saturation flow rate was used for analyzing the impact of the traffic incident on the traversing traffic flow at the congestion area. The base congestion propagation speed for each road type was calculated based on field data, which were provided by the remote traffic microwave sensors(RTMS), floating car data(FCD) system and screen line survey. According to a comparative analysis of the congestion propagation speed, it is found that the expressway, major arterial, minor arterial and collector are decreasingly influenced by the traffic incident. Subsequently, the impact of turning movements at intersections on the congestion propagation was considered. The turning ratio was adopted to represent the impact of turning movements, and afterward the corresponding propagation pattern at intersections was analyzed. Finally, an implementation system was designed on a geographic information system(GIS) platform to display the characteristics of the congestion propagation over the network. The validation results show that the proposed approach is able to capture the congestion propagation properties in the actual road network. 展开更多
关键词 kinematic wave model Van Aerde model traffic incident congestion propagation on network
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Congestion control scheme in ATM networks based on fast tracing-queue 被引量:1
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作者 Liu Zhixin Guan Xinping 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2007年第1期101-110,共10页
One of the more challenging and unresolved issues in ATM networks is the congestion control of available bit rate (ABR). The dynamic controller is designed based on the control theory and the feedback mechanism of e... One of the more challenging and unresolved issues in ATM networks is the congestion control of available bit rate (ABR). The dynamic controller is designed based on the control theory and the feedback mechanism of explicit rates With the given method of a chosen parameter, it can guarantee the stability of the controller and closed loop system with propagation delay and bandwidth oscillation. It needs less parameters(only one) to be designed. The queue length can converge to the given value in the least steps. The fairness of different connections is considered further. The simulations show better performance and good quality of service(QoS) is achieved. 展开更多
关键词 ATM networks congestion control Control theory Tracing-queue QOS
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Congestion aware routing algorithm for delay-disruption tolerance networks 被引量:4
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作者 陶勇 龚正虎 +1 位作者 林亚平 周四望 《Journal of Central South University》 SCIE EI CAS 2011年第1期133-139,共7页
There were many contradictory evaluation criteria to select next-hop in the delay-disruption tolerance networks(DTN).To solve this problem,an attribute hierarchical model was proposed,in which the predefined criteria ... There were many contradictory evaluation criteria to select next-hop in the delay-disruption tolerance networks(DTN).To solve this problem,an attribute hierarchical model was proposed,in which the predefined criteria were summarized as static identity attributes,forwarding desire attributes and delivery capability attributes(IDC).Based on this model,a novel multi-attributes congestion aware routing(MACAR) scheme with uncertain information for next-hop selection was presented,by adopting an decision theory to aggregate attributes with belief structure and computing partial ordering relations.The simulation results show that MACAR presents higher successful delivery rate,lower average delay and effectively alleviate congestion. 展开更多
关键词 delay-disruption tolerant network congestion control routing algorithm custody transfer
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CRSG:A congestion control routing algorithm for security defense based on social psychology and game theory in DTN 被引量:1
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作者 王珵珺 龚正虎 +2 位作者 陶勇 张子文 赵宝康 《Journal of Central South University》 SCIE EI CAS 2013年第2期440-450,共11页
The inherent selfishness of each node for the enhancement of message successful delivery ratio and the network overall performance improvement are reflected in the contradiction relationship of competition and coopera... The inherent selfishness of each node for the enhancement of message successful delivery ratio and the network overall performance improvement are reflected in the contradiction relationship of competition and cooperation in delay/disruption tolerant networks (DTN). In particular, the existence of malicious node aggravates this contradiction. To resolve this contradiction, social relationship theory and group theory of social psychology were adopted to do an in-depth analysis. The concrete balancing approach which leveraged Nash equilibrium theory of game theory was proposed to resolve this contradiction in reality. Thus, a new congestion control routing algorithm for security defense based on social psychology and game theory (CRSG) was put forward. Through the experiment, this algorithm proves that it can enhance the message successful delivery ratio by more than 15% and reduce the congestion ratio over 15% as well. This algorithm balances the contradiction relationship between the two key performance targets and made all nodes exhibit strong cooperation relationship in DTN. 展开更多
关键词 delay/disruption tolerant networks social psychology game theory congestion control ROUTING
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Application of improved PSO to power transmission congestion management optimization model
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作者 李翔 刘预胜 杨淑霞 《Journal of Central South University》 SCIE EI CAS 2008年第S2期347-351,共5页
The parameters of particles were encoded firstly, then the constraint conditions and fitness degree were processed, and the calculation steps of the improved PSO algorithm were presented. Finally, the issues with the ... The parameters of particles were encoded firstly, then the constraint conditions and fitness degree were processed, and the calculation steps of the improved PSO algorithm were presented. Finally, the issues with the adoption of the improved PSO algorithm were solved and the results were analyzed. The results show that it is beneficial to obtaining the optimal solution by increasing the number of particles but that will also increase the operation time. On the aspects of solving continuous differentiable non-linear optimization model with equality and inequality constraints, the optimization result of PSO algorithm is the same as that of the interior point method. Compared with genetic algorithms (GA), PSO algorithm is more effective in the local optimization, and unlike GA, it will not be early maturity. Meanwhile, PSO algorithm is also more effective in the boundary optimization than genetic algorithm. 展开更多
关键词 congestion management PARTICLE SWARM optimization (PSO) algorithm double FITNESS DEGREE
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Congestion control method: improved ERICA algorithm based on available bandwidth prediction using neural networks
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作者 LiuZhixin GuanXinping LongChengnian 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2005年第1期151-154,共4页
The improved ERICA algorithm for ABR flow congestion control is presented based on available bandwidth prediction using the BP neural networks in ATM networks. The switch periodically calculates the available bandwidt... The improved ERICA algorithm for ABR flow congestion control is presented based on available bandwidth prediction using the BP neural networks in ATM networks. The switch periodically calculates the available bandwidth, monitors the load of network and updates the ER value according to the PERICA algorithm. The proposed algorithm can keep better performance than ERICA algorithm in simulations. 展开更多
关键词 congestion control BP neural network PERICA.
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Congestion Control for ATM Networks Based on Diagonal Recurent Neural Networks 被引量:1
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作者 Huang Yunxian Yan Wei (Air Force Institute of Meteorology,Nanjing 211101) 《通信学报》 EI CSCD 北大核心 1997年第3期92-97,共6页
CongestionControlforATMNetworksBasedonDiagonalRecurentNeuralNetworksHuangYunxianYanWei(AirForceInstituteofMe... CongestionControlforATMNetworksBasedonDiagonalRecurentNeuralNetworksHuangYunxianYanWei(AirForceInstituteofMeteorology,Nanjing... 展开更多
关键词 DIAGONAL recurrent NEURAL NETWORKS congestion CONTROL ATM NETWORKS
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Urban Motorization and Traffic Congestion Challenge in the City of Beijing:Application of A Formal Policy Analysis Paradigm
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作者 Yao Yang 《学术界》 CSSCI 北大核心 2015年第5期279-285,共7页
Public policy is the intersection of social,cultural,political,and economic demands.This thesis apply a formal paradigm of policy analysis widely used in America for analyzing urban motorization and traffic congestion... Public policy is the intersection of social,cultural,political,and economic demands.This thesis apply a formal paradigm of policy analysis widely used in America for analyzing urban motorization and traffic congestion challenge in the city of Beijing,beginning with problem identification formation of alternative policy responses,and methods of selecting the most appropriate policy response. 展开更多
关键词 城市机动化 交通拥堵 北京市 应用 公共政策 反应
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Reliability-based congestion pricing model under endogenous equilibrated market penetration and compliance rate of ATIS
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作者 钟绍鹏 邓卫 Bushell MAX 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第3期1155-1165,共11页
A reliability-based stochastic system optimum congestion pricing(SSOCP) model with endogenous market penetration and compliance rate in an advanced traveler information systems(ATIS) environment was proposed. All trav... A reliability-based stochastic system optimum congestion pricing(SSOCP) model with endogenous market penetration and compliance rate in an advanced traveler information systems(ATIS) environment was proposed. All travelers were divided into two classes. The first guided travelers were referred to as the equipped travelers who follow ATIS advice, while the second unguided travelers were referred to as the unequipped travelers and the equipped travelers who do not follow the ATIS advice(also referred to as non-complied travelers). Travelers were assumed to take travel time, congestion pricing, and travel time reliability into account when making travel route choice decisions. In order to arrive at on time, travelers needed to allow for a safety margin to their trip.The market penetration of ATIS was determined by a continuous increasing function of the information benefit, and the ATIS compliance rate of equipped travelers was given as the probability of the actually experienced travel costs of guided travelers less than or equal to those of unguided travelers. The analysis results could enhance our understanding of the effect of travel demand level and travel time reliability confidence level on the ATIS market penetration and compliance rate; and the effect of travel time perception variation of guided and unguided travelers on the mean travel cost savings(MTCS) of the equipped travelers, the ATIS market penetration, compliance rate, and the total network effective travel time(TNETT). 展开更多
关键词 reliability advanced traveler information systems market penetration compliance rate stochastic system optimum congestion pricing non-additive path cost
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多路径传输技术研究综述 被引量:5
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作者 苏金树 宋丛溪 +2 位作者 计晓岚 徐草 韩彪 《软件学报》 北大核心 2025年第1期289-320,共32页
多路径传输技术是指通过设备上的多个网络接口,在通信双方建立多条传输路径,实现带宽聚合、负载均衡、路径冗余,增加传输的吞吐量,提高可靠性.多路径传输技术凭借其上述优势,已被广泛应用于服务器、终端和数据中心等场景,是网络体系结... 多路径传输技术是指通过设备上的多个网络接口,在通信双方建立多条传输路径,实现带宽聚合、负载均衡、路径冗余,增加传输的吞吐量,提高可靠性.多路径传输技术凭借其上述优势,已被广泛应用于服务器、终端和数据中心等场景,是网络体系结构和传输技术研究的重要组成,具有重要研究价值和意义.为此,从概念、核心机制等方面,系统梳理了多路径传输技术.首先概述了多路径传输的基本概念、标准化进程以及应用价值.其次,阐述多路径传输技术的核心机制,包括拥塞控制、报文调度、路径管理、重传机制、安全机制,以及面向特定应用的机制设计.对每种机制的分类方法、主要研究成果给予了总结和评述,分析总结了不同机制的优缺点与发展方向.最后,探讨了多路径传输技术研究面临的挑战,展望了未来研究方向. 展开更多
关键词 多路径传输 QUIC 拥塞控制 报文调度 智能网络
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计及实时交通流的电动汽车灵活性多速率联合优化 被引量:2
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作者 李春燕 赖伟彬 +3 位作者 刘杨 易德荣 杨坤 张谦 《电力自动化设备》 北大核心 2025年第1期200-207,共8页
由于交通网-电网之间的耦合愈加紧密,电动汽车(EV)作为灵活性资源参与调度的潜力愈加明显。针对现阶段交通网-电网耦合网络对交通流实时性考虑不足的现状,提出一种计及实时交通流的EV灵活性多速率联合优化(MRCO)策略。构建考虑交通拥堵... 由于交通网-电网之间的耦合愈加紧密,电动汽车(EV)作为灵活性资源参与调度的潜力愈加明显。针对现阶段交通网-电网耦合网络对交通流实时性考虑不足的现状,提出一种计及实时交通流的EV灵活性多速率联合优化(MRCO)策略。构建考虑交通拥堵的动态交通模型,基于速度-流量实用模型建立道路实时车流量与等效道路邻接矩阵的关系,提出考虑拥堵的等效最优路径搜索算法;建立以电网侧为主体的EV灵活性实时调度模型,针对交通网-电网的EV调度时间尺度不同的问题,提出基于MRCO的实时滚动优化算法,以适应交通路况实时多变的要求。基于某区域路网及IEEE 33节点系统对所提模型进行有效性验证,结果表明,所提策略能在满足用户出行需求的前提下,提高EV灵活性,促进可再生能源消纳。 展开更多
关键词 电动汽车 灵活性 交通拥堵 实时调度 多速率联合优化
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考虑交通拥堵的冷链配送路径动态优化 被引量:2
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作者 曹菁菁 魏杰 +3 位作者 雷阿会 韩鹏 冯子立 王梦简 《计算机应用研究》 北大核心 2025年第8期2364-2373,共10页
针对交通流的不确定性和难预知性导致的交通拥堵,从而影响冷链配送效率的问题,提出考虑交通拥堵的带时间窗的冷链车辆路径问题,建立了0-1整数规划模型;然后,利用变交叉操作和自适应扰动因子对免疫遗传算法(IGA)进行改进,提出基于变交叉... 针对交通流的不确定性和难预知性导致的交通拥堵,从而影响冷链配送效率的问题,提出考虑交通拥堵的带时间窗的冷链车辆路径问题,建立了0-1整数规划模型;然后,利用变交叉操作和自适应扰动因子对免疫遗传算法(IGA)进行改进,提出基于变交叉下降的免疫遗传算法(VCD-IGA);最后,利用某生鲜企业配送过程中的实际配送数据和交通流数据进行实验。实验通过自主搭建的信息系统进行数据交互,并通过VCD-IGA对配送路径进行实时动态优化。实验表明,相较于静态决策,提出的动态决策使得配送总成本降低29.6%,平均物流服务水平提升18%。 展开更多
关键词 冷链配送 免疫遗传算法 动态决策 交通拥堵
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基于SIR模型的城市路网拥堵传播分析
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作者 郑长江 周思达 +3 位作者 郑树康 马庚华 张博 戴津雯 《郑州大学学报(工学版)》 CAS 北大核心 2025年第1期51-58,共8页
研究城市道路交通拥堵传播规律对缓解交通拥堵问题有着积极作用,为此建立了基于SIR的城市道路交通拥堵传播模型,用以分析城市道路交通拥堵传播过程。首先,基于城市实际路网构建路网对偶拓扑网络,并依据SIR建立交通拥堵传播模型。其次,... 研究城市道路交通拥堵传播规律对缓解交通拥堵问题有着积极作用,为此建立了基于SIR的城市道路交通拥堵传播模型,用以分析城市道路交通拥堵传播过程。首先,基于城市实际路网构建路网对偶拓扑网络,并依据SIR建立交通拥堵传播模型。其次,结合道路网络的复杂网络特征和道路自身的相关属性,引入随机森林算法计算相关权重,确定拥堵模型中的传播速率等关键参数。最后,以南京市秦淮区某区域路网为例,构建有69个节点,163条连线的城市路网对偶拓扑网络进行仿真实验。结果表明:道路节点度和道路饱和度是影响道路拥堵传播的关键因素,道路节点度的影响相对较小,传播范围增长在5%以内,恢复时间影响在10%左右;道路饱和度的影响相对较大,随着道路饱和度的增长,传播范围增长最大可至40%,恢复时间影响在20%左右。 展开更多
关键词 SIR模型 城市交通 拥堵传播 道路节点度 道路饱和度
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基于网格拥挤度的自适应参考点多目标优化算法
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作者 王学武 高永亮 顾幸生 《华东理工大学学报(自然科学版)》 北大核心 2025年第4期522-537,共16页
在多目标优化中,对于搜索到的种群要兼顾收敛性和分布性。基于指标的参考点自适应多目标优化算法(AR-MOEA)算法强调IGD-NS指标的最优,算法收敛过程加快,容易陷入局部最优,导致种群不能覆盖到完整的Pareto前沿。本文提出了一种基于网格... 在多目标优化中,对于搜索到的种群要兼顾收敛性和分布性。基于指标的参考点自适应多目标优化算法(AR-MOEA)算法强调IGD-NS指标的最优,算法收敛过程加快,容易陷入局部最优,导致种群不能覆盖到完整的Pareto前沿。本文提出了一种基于网格拥挤度的自适应参考点多目标优化算法(AR-MOEA-GC),该算法区分了种群中贡献个体与非贡献个体的适应度计算方法,保证种群的分布性和收敛性;同时,为了加快种群在算法后期的收敛速度,融入了参考点调整策略,辅助种群向真实Pareto进化。将改进的算法与6个先进的多目标进化算法在3类测试函数上测试,结果表明AR-MOEA-GC在三维的多目标优化问题上有着一定的竞争力。 展开更多
关键词 进化算法 IGD-NS指标 多目标优化 网格拥挤度 进化计算
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中-美出口集装箱航线上港口拥堵与CCFI波动相关性分析
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作者 赵楠 沈莉 郁兰 《中国航海》 北大核心 2025年第1期93-100,共8页
为预测CCFI提供新的视角,将2018年1月~2023年2月中国出口集装箱运价指数美东航线(CCFI美东航线)和中国出口集装箱运价指数美西航线(CCFI美西航线)同克拉克森集装箱港口拥堵指数(CPCI)构建向量自回归模型(VAR),定量分析港口拥堵对集装箱... 为预测CCFI提供新的视角,将2018年1月~2023年2月中国出口集装箱运价指数美东航线(CCFI美东航线)和中国出口集装箱运价指数美西航线(CCFI美西航线)同克拉克森集装箱港口拥堵指数(CPCI)构建向量自回归模型(VAR),定量分析港口拥堵对集装箱运价的影响机制。结合VEC模型来研究变量之间长期的均衡关系。考虑到国际原油价格、进出口贸易额等都会对CCFI波动产生影响,因而在建立VAR模型前,本文采用OLS方法检验港口拥堵指数是否能独立于控制变量(布伦特原油价格、进出口贸易额)对CCFI波动产生影响。研究结果表明:(1)港口拥堵导致集装箱运力和港口资源被占用,中-美出口集装箱航线上的运力分布及运输策略发生变化,继而引起分航线上CCFI出现不同程度的波动;(2)港口拥堵对集装箱运价产生的影响效应会维持近三个月;(3)无论美东航线还是美西航线,美国港口拥堵比中国港口的拥堵更能推动集装箱运价指数的攀升。 展开更多
关键词 港口拥堵 中国出口集装箱运价指数 VAR模型 脉冲响应
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基于动态自适应门控图卷积网络的交通拥堵预测
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作者 王庆荣 高桓伊 +2 位作者 朱昌锋 何润田 慕壮壮 《华南理工大学学报(自然科学版)》 北大核心 2025年第9期31-47,共17页
随着城市机动车保有量的持续攀升,交通拥堵程度不断加剧,这种现象对环境保护与城市运行效率造成不利影响。因此,精确预测交通拥堵对于交通管理与优化具有重要意义。然而,现有研究在建模交通数据的动态时变特性及复杂路段间交互关系方面... 随着城市机动车保有量的持续攀升,交通拥堵程度不断加剧,这种现象对环境保护与城市运行效率造成不利影响。因此,精确预测交通拥堵对于交通管理与优化具有重要意义。然而,现有研究在建模交通数据的动态时变特性及复杂路段间交互关系方面仍存在一定局限性。针对这一问题,该文提出了一种基于图神经网络的门控时空卷积网络模型,以更有效地刻画和预测交通拥堵状况。首先,通过改进的K-均值聚类算法将原始数据划分为多个拥堵状态类别,并将其作为辅助特征融入预测模型,以增强特征表达能力;然后,引入门控时间卷积网络以捕捉交通数据间的时序特性与动态依赖关系,并构建动态自适应门控图卷积网络,通过信号生成模块与双层调制机制实现特征融合与动态权重分配,从而完成对时空特征的有效提取;最后,引入残差连接以增强训练过程的稳定性,并利用跳跃连接对多层次与多尺度特征进行有效整合。在真实交通数据集PeMS08与PeMS04上对所提模型的有效性进行了验证,结果表明,该模型的预测精度优于其他基线模型。 展开更多
关键词 交通拥堵预测 图神经网络 动态自适应门控 聚类算法 门控时间卷积网络
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考虑交通回滞的混合交通流元胞传输模型
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作者 王志建 宋程龙 王久增 《计算机工程与应用》 北大核心 2025年第15期373-380,共8页
常规的混合交通流元胞传输模型(cell transmission model,CTM)在表述诸如交通回滞这类复杂的现象时存在着一定的局限性。通过将混合交通流CTM与实际观测到的交通回滞现象相结合,引入了反向波折减系数以更好地模拟交通流从拥堵状态恢复... 常规的混合交通流元胞传输模型(cell transmission model,CTM)在表述诸如交通回滞这类复杂的现象时存在着一定的局限性。通过将混合交通流CTM与实际观测到的交通回滞现象相结合,引入了反向波折减系数以更好地模拟交通流从拥堵状态恢复至自由流状态的过程,并通过仿真实验验证了基本图的正确性,在此基础之上提出考虑交通回滞的混合交通流CTM,进一步提高了宏观交通流仿真模型的精准度。通过与跟驰模型微观仿真进行了对比表明,在不同的智能网联车比例下,考虑交通回滞的混合交通流CTM绝对误差均在30 s以内,相对误差在4%以内,较普通的混合交通流CTM提高了模型精度,可以较好地描述混合交通流的宏观运行态势。 展开更多
关键词 交通流 元胞传输模型 交通回滞 自动驾驶 交通拥堵
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三维片上网络自适应路由算法研究综述
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作者 邵晶波 宁家鸿 苏鑫苓 《计算机工程与科学》 北大核心 2025年第10期1745-1755,共11页
近年来,随着半导体制造工艺不断发展,芯片的集成度不断提高。作为大规模片上互连问题的一种解决方案,三维片上网络(3D NoC)已经成为集成电路发展的一个主要趋势。然而,系统之间大规模的通信可能会造成网络拥塞、链路故障以及局部温度过... 近年来,随着半导体制造工艺不断发展,芯片的集成度不断提高。作为大规模片上互连问题的一种解决方案,三维片上网络(3D NoC)已经成为集成电路发展的一个主要趋势。然而,系统之间大规模的通信可能会造成网络拥塞、链路故障以及局部温度过高等问题,从而降低系统性能。故拥塞控制、拓扑感知以及热点避免是路由算法所研究的重点。而3D NoC自适应路由算法根据3D NoC的网络状态,动态地对数据包进行路由决策,已成为3D NoC路由算法研究的热点之一。首先介绍了自适应路由算法的研究历史,阐述了3D NoC自适应路由算法的工作原理和实现方式,并从算法设计原则的角度对算法进行分类。其次在基于路由规则、路由策略以及调整策略方面的分析框架下,对近年来提出的自适应路由算法进行了分析,并归纳了它们的特点。最后,讨论了自适应路由算法面临的挑战和未来发展趋势。 展开更多
关键词 三维片上网络 自适应路由算法 热点 拥塞控制 拓扑感知
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基于拥塞感知和缓存通信的多智能体路径规划
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作者 张永良 李子文 +2 位作者 许家豪 江雨宸 崔滢 《计算机科学》 北大核心 2025年第8期317-325,共9页
多智能体路径规划任务(MAPF)是大规模机器人系统的重要组成部分。基于冲突搜索的传统规划器受限于计算时间,导致可扩展性低,而基于通信机制的多智能体强化学习策略显著改善了这一问题。随着任务规模的扩大,如何有效通信和避免拥塞成为... 多智能体路径规划任务(MAPF)是大规模机器人系统的重要组成部分。基于冲突搜索的传统规划器受限于计算时间,导致可扩展性低,而基于通信机制的多智能体强化学习策略显著改善了这一问题。随着任务规模的扩大,如何有效通信和避免拥塞成为基于学习方法的主要障碍。针对这些问题,提出了一种基于缓存通信并具备拥塞感知能力的分布式规划器(C3MAP),在合理降低通信频率的同时保持优异的求解成功率。具体而言,当且仅当智能体的可观测信息与上一次通信内容存在显著差异或接收到其他智能体传来的广播请求信号时,才对局部视野内的智能体进行广播通信;同时,引入拥塞信息作为局部可观测信息,以指导智能体避开拥塞区域。基准测试的实验结果表明,C3MAP在结构化场景中的求解成功率均高于90%,显著优于现有基于学习的方法,且在大规模场景实验中进一步验证了缓存通信机制优越的稳定性以及拥塞感知的有效性。 展开更多
关键词 多智能体系统 路径规划 深度强化学习 拥塞感知 缓存通信
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