This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired traje...This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.展开更多
Unmanned aerial vehicles(UAVs)have become one of the key technologies to achieve future data collection due to their high mobility,rapid deployment,low cost,and the ability to establish line-of-sight communication lin...Unmanned aerial vehicles(UAVs)have become one of the key technologies to achieve future data collection due to their high mobility,rapid deployment,low cost,and the ability to establish line-of-sight communication links.However,when UAV swarm perform tasks in narrow spaces,they often encounter various spatial obstacles,building shielding materials,and high-speed node movements,which result in intermittent network communication links and cannot support the smooth comple-tion of tasks.In this paper,a high mobility and dynamic topol-ogy of the UAV swarm is particularly considered and the high dynamic mobile topology-based clustering(HDMTC)algorithm is proposed.Simulation and real flight verification results verify that the proposed HDMTC algorithm achieves higher stability of net-work,longer link expiration time(LET),and longer node lifetime,all of which improve the communication performance for UAV swarm networks.展开更多
The nature of adhoc networks makes them vulnerable to security attacks. Many security technologies such as intrusion prevention and intrusion detection are passive in response to intrusions in that their countermea- s...The nature of adhoc networks makes them vulnerable to security attacks. Many security technologies such as intrusion prevention and intrusion detection are passive in response to intrusions in that their countermea- sures are only to protect the networks, and there is no automated network-wide counteraction against detected intrusions, the architecture of cooperation intrusion response based multi-agent is propose. The architecture is composed of mobile agents. Monitor agent resides on every node and monitors its neighbor nodes. Decision agent collects information from monitor nodes and detects an intrusion by security policies. When an intruder is found in the architecture, the block agents will get to the neighbor nodes of the intruder and form the mobile firewall to isolate the intruder. In the end, we evaluate it by simulation.展开更多
Future unmanned battles desperately require intelli-gent combat policies,and multi-agent reinforcement learning offers a promising solution.However,due to the complexity of combat operations and large size of the comb...Future unmanned battles desperately require intelli-gent combat policies,and multi-agent reinforcement learning offers a promising solution.However,due to the complexity of combat operations and large size of the combat group,this task suffers from credit assignment problem more than other rein-forcement learning tasks.This study uses reward shaping to relieve the credit assignment problem and improve policy train-ing for the new generation of large-scale unmanned combat operations.We first prove that multiple reward shaping func-tions would not change the Nash Equilibrium in stochastic games,providing theoretical support for their use.According to the characteristics of combat operations,we propose tactical reward shaping(TRS)that comprises maneuver shaping advice and threat assessment-based attack shaping advice.Then,we investigate the effects of different types and combinations of shaping advice on combat policies through experiments.The results show that TRS improves both the efficiency and attack accuracy of combat policies,with the combination of maneuver reward shaping advice and ally-focused attack shaping advice achieving the best performance compared with that of the base-line strategy.展开更多
As an important mechanism in multi-agent interaction,communication can make agents form complex team relationships rather than constitute a simple set of multiple independent agents.However,the existing communication ...As an important mechanism in multi-agent interaction,communication can make agents form complex team relationships rather than constitute a simple set of multiple independent agents.However,the existing communication schemes can bring much timing redundancy and irrelevant messages,which seriously affects their practical application.To solve this problem,this paper proposes a targeted multiagent communication algorithm based on state control(SCTC).The SCTC uses a gating mechanism based on state control to reduce the timing redundancy of communication between agents and determines the interaction relationship between agents and the importance weight of a communication message through a series connection of hard-and self-attention mechanisms,realizing targeted communication message processing.In addition,by minimizing the difference between the fusion message generated from a real communication message of each agent and a fusion message generated from the buffered message,the correctness of the final action choice of the agent is ensured.Our evaluation using a challenging set of Star Craft II benchmarks indicates that the SCTC can significantly improve the learning performance and reduce the communication overhead between agents,thus ensuring better cooperation between agents.展开更多
This paper discusses the influence of Sb/In ratio on the transport properties and crystal quality of the 200 nm InAs_(x)Sb_(1-x)thin film.The Sb content of InAs_(x)Sb_(1-x)thin film in all samples was verified by HRXR...This paper discusses the influence of Sb/In ratio on the transport properties and crystal quality of the 200 nm InAs_(x)Sb_(1-x)thin film.The Sb content of InAs_(x)Sb_(1-x)thin film in all samples was verified by HRXRD of the symmetrical 004 reflections and asymmetrical 115 reflections.The calculation results show that the Sb component was 0.6 in the InAs_(x)Sb_(1-x)thin film grown under the conditions of Sb/In ratio of 6 and As/In ratio of 3,which has the highest electron mobility(28560 cm^(2)/V·s)at 300 K.At the same time,the influence ofⅤ/Ⅲratio on the transport properties and crystal quality of Al_(0.2)In_(0.8)Sb/InAs_(x)Sb_(1-x)quantum well heterostructures also has been investigated.As a result,the Al_(0.2)In_(0.8)Sb/InAs_(0.4)Sb_(0.6)quantum well heterostructure with a channel thickness of 30 nm grown under the conditions of Sb/In ratio of 6 and As/In ratio of 3 has a maximum electron mobility of 28300 cm^(2)/V·s and a minimum RMS roughness of 0.68 nm.Through optimizing the growth conditions,our samples have higher electron mobility and smoother surface morphology.展开更多
为了开发简单易用的移动测量设备数据采集、处理软件,对目前常用的数据采集、处理软件的优缺点作了分析,并针对存在缺点提出了GeoSolution软件的解决方案。以Windows Mobile 6.0操作系统应用程序的开发环境为平台,搭建GeoSolution软件...为了开发简单易用的移动测量设备数据采集、处理软件,对目前常用的数据采集、处理软件的优缺点作了分析,并针对存在缺点提出了GeoSolution软件的解决方案。以Windows Mobile 6.0操作系统应用程序的开发环境为平台,搭建GeoSolution软件的开发架构,并对GeoSolution软件的开发过程作了阐明,针对软件开发过程中遇到的技术难题提出了解决方法。展开更多
文摘This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.
基金supported by the National Key Research and Development Program of China(2024YFB4504500)Shanghai Collaborative Innovation Project(24xtcx00500).
文摘Unmanned aerial vehicles(UAVs)have become one of the key technologies to achieve future data collection due to their high mobility,rapid deployment,low cost,and the ability to establish line-of-sight communication links.However,when UAV swarm perform tasks in narrow spaces,they often encounter various spatial obstacles,building shielding materials,and high-speed node movements,which result in intermittent network communication links and cannot support the smooth comple-tion of tasks.In this paper,a high mobility and dynamic topol-ogy of the UAV swarm is particularly considered and the high dynamic mobile topology-based clustering(HDMTC)algorithm is proposed.Simulation and real flight verification results verify that the proposed HDMTC algorithm achieves higher stability of net-work,longer link expiration time(LET),and longer node lifetime,all of which improve the communication performance for UAV swarm networks.
基金This project was supported by the National Natural Science Foundation of China (60672068)the National High Technology Development 863 Program of China (2006AA01Z436, 2007AA01Z452.)
文摘The nature of adhoc networks makes them vulnerable to security attacks. Many security technologies such as intrusion prevention and intrusion detection are passive in response to intrusions in that their countermea- sures are only to protect the networks, and there is no automated network-wide counteraction against detected intrusions, the architecture of cooperation intrusion response based multi-agent is propose. The architecture is composed of mobile agents. Monitor agent resides on every node and monitors its neighbor nodes. Decision agent collects information from monitor nodes and detects an intrusion by security policies. When an intruder is found in the architecture, the block agents will get to the neighbor nodes of the intruder and form the mobile firewall to isolate the intruder. In the end, we evaluate it by simulation.
文摘Future unmanned battles desperately require intelli-gent combat policies,and multi-agent reinforcement learning offers a promising solution.However,due to the complexity of combat operations and large size of the combat group,this task suffers from credit assignment problem more than other rein-forcement learning tasks.This study uses reward shaping to relieve the credit assignment problem and improve policy train-ing for the new generation of large-scale unmanned combat operations.We first prove that multiple reward shaping func-tions would not change the Nash Equilibrium in stochastic games,providing theoretical support for their use.According to the characteristics of combat operations,we propose tactical reward shaping(TRS)that comprises maneuver shaping advice and threat assessment-based attack shaping advice.Then,we investigate the effects of different types and combinations of shaping advice on combat policies through experiments.The results show that TRS improves both the efficiency and attack accuracy of combat policies,with the combination of maneuver reward shaping advice and ally-focused attack shaping advice achieving the best performance compared with that of the base-line strategy.
文摘As an important mechanism in multi-agent interaction,communication can make agents form complex team relationships rather than constitute a simple set of multiple independent agents.However,the existing communication schemes can bring much timing redundancy and irrelevant messages,which seriously affects their practical application.To solve this problem,this paper proposes a targeted multiagent communication algorithm based on state control(SCTC).The SCTC uses a gating mechanism based on state control to reduce the timing redundancy of communication between agents and determines the interaction relationship between agents and the importance weight of a communication message through a series connection of hard-and self-attention mechanisms,realizing targeted communication message processing.In addition,by minimizing the difference between the fusion message generated from a real communication message of each agent and a fusion message generated from the buffered message,the correctness of the final action choice of the agent is ensured.Our evaluation using a challenging set of Star Craft II benchmarks indicates that the SCTC can significantly improve the learning performance and reduce the communication overhead between agents,thus ensuring better cooperation between agents.
基金Supported by the Natural Science Basic Research Program of Shaanxi Province(2023-JC-QN-0758)Shaanxi University of Science and Technology Research Launch Project(2020BJ-26)Doctoral Research Initializing Fund of Hebei University of Science and Technology,China(1181476).
文摘This paper discusses the influence of Sb/In ratio on the transport properties and crystal quality of the 200 nm InAs_(x)Sb_(1-x)thin film.The Sb content of InAs_(x)Sb_(1-x)thin film in all samples was verified by HRXRD of the symmetrical 004 reflections and asymmetrical 115 reflections.The calculation results show that the Sb component was 0.6 in the InAs_(x)Sb_(1-x)thin film grown under the conditions of Sb/In ratio of 6 and As/In ratio of 3,which has the highest electron mobility(28560 cm^(2)/V·s)at 300 K.At the same time,the influence ofⅤ/Ⅲratio on the transport properties and crystal quality of Al_(0.2)In_(0.8)Sb/InAs_(x)Sb_(1-x)quantum well heterostructures also has been investigated.As a result,the Al_(0.2)In_(0.8)Sb/InAs_(0.4)Sb_(0.6)quantum well heterostructure with a channel thickness of 30 nm grown under the conditions of Sb/In ratio of 6 and As/In ratio of 3 has a maximum electron mobility of 28300 cm^(2)/V·s and a minimum RMS roughness of 0.68 nm.Through optimizing the growth conditions,our samples have higher electron mobility and smoother surface morphology.
文摘为了开发简单易用的移动测量设备数据采集、处理软件,对目前常用的数据采集、处理软件的优缺点作了分析,并针对存在缺点提出了GeoSolution软件的解决方案。以Windows Mobile 6.0操作系统应用程序的开发环境为平台,搭建GeoSolution软件的开发架构,并对GeoSolution软件的开发过程作了阐明,针对软件开发过程中遇到的技术难题提出了解决方法。
