A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK ...A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.展开更多
The advent of Grover’s algorithm presents a significant threat to classical block cipher security,spurring research into post-quantum secure cipher design.This study engineers quantum circuit implementations for thre...The advent of Grover’s algorithm presents a significant threat to classical block cipher security,spurring research into post-quantum secure cipher design.This study engineers quantum circuit implementations for three versions of the Ballet family block ciphers.The Ballet‑p/k includes a modular-addition operation uncommon in lightweight block ciphers.Quantum ripple-carry adder is implemented for both“32+32”and“64+64”scale to support this operation.Subsequently,qubits,quantum gates count,and quantum circuit depth of three versions of Ballet algorithm are systematically evaluated under quantum computing model,and key recovery attack circuits are constructed based on Grover’s algorithm against each version.The comprehensive analysis shows:Ballet-128/128 fails to NIST Level 1 security,while when the resource accounting is restricted to the Clifford gates and T gates set for the Ballet-128/256 and Ballet-256/256 quantum circuits,the design attains Level 3.展开更多
文摘A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.
基金State Key Lab of Processors,Institute of Computing Technology,Chinese Academy of Sciences(CLQ202516)the Fundamental Research Funds for the Central Universities of China(3282025047,3282024051,3282024009)。
文摘The advent of Grover’s algorithm presents a significant threat to classical block cipher security,spurring research into post-quantum secure cipher design.This study engineers quantum circuit implementations for three versions of the Ballet family block ciphers.The Ballet‑p/k includes a modular-addition operation uncommon in lightweight block ciphers.Quantum ripple-carry adder is implemented for both“32+32”and“64+64”scale to support this operation.Subsequently,qubits,quantum gates count,and quantum circuit depth of three versions of Ballet algorithm are systematically evaluated under quantum computing model,and key recovery attack circuits are constructed based on Grover’s algorithm against each version.The comprehensive analysis shows:Ballet-128/128 fails to NIST Level 1 security,while when the resource accounting is restricted to the Clifford gates and T gates set for the Ballet-128/256 and Ballet-256/256 quantum circuits,the design attains Level 3.
