146 results on '"Changbin Yu"'
Search Results
2. Potential Function Based Fully Distributed Finite-Time Event-Triggered Consensus for Multi-Agent Systems over Directed Graphs
- Author
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Changbin Yu, Bian Yougang, Changkun Du, and Haikuo Liu
- Subjects
0209 industrial biotechnology ,Computer science ,Distributed computing ,Multi-agent system ,02 engineering and technology ,Function (mathematics) ,Directed graph ,Graph ,020901 industrial engineering & automation ,Rate of convergence ,Control theory ,Convergence (routing) ,0202 electrical engineering, electronic engineering, information engineering ,Graph (abstract data type) ,020201 artificial intelligence & image processing - Abstract
This paper proposes a novel approach for distributed finite-time event-triggered consensus control of multi-agent systems over directed graphs. In the proposed approach, a potential function is introduced in the control protocol design and a dynamic external variable with a finite-time convergence rate is involved in the construction of triggering thresholds. By using the proposed approach, finite-time consensus can be achieved in a fully distributed manner and the Zeno behavior is ruled out in the framework of finite-time event-triggered consensus. The proposed approach does not need global information and only a directed spanning tree is required for the underlying communication graph. Additionally, the requirement on continuous communication for controller updates or triggering detection is removed. Finally, an example is given to show the feasibility of the proposed approach.
- Published
- 2020
3. Multimodal Aggregation Approach for Memory Vision-Voice Indoor Navigation with Meta-Learning
- Author
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Yaoxian Song, Dongfang Liu, Changbin Yu, and Liqi Yan
- Subjects
FOS: Computer and information sciences ,Meta learning (computer science) ,Computer science ,Computer Vision and Pattern Recognition (cs.CV) ,Feature extraction ,Computer Science - Computer Vision and Pattern Recognition ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,02 engineering and technology ,010501 environmental sciences ,01 natural sciences ,Visualization ,Human–computer interaction ,0202 electrical engineering, electronic engineering, information engineering ,Task analysis ,RGB color model ,Robot ,020201 artificial intelligence & image processing ,0105 earth and related environmental sciences - Abstract
Vision and voice are two vital keys for agents' interaction and learning. In this paper, we present a novel indoor navigation model called Memory Vision-Voice Indoor Navigation (MVV-IN), which receives voice commands and analyzes multimodal information of visual observation in order to enhance robots' environment understanding. We make use of single RGB images taken by a first-view monocular camera. We also apply a self-attention mechanism to keep the agent focusing on key areas. Memory is important for the agent to avoid repeating certain tasks unnecessarily and in order for it to adapt adequately to new scenes, therefore, we make use of meta-learning. We have experimented with various functional features extracted from visual observation. Comparative experiments prove that our methods outperform state-of-the-art baselines., Comment: 8 pages, 6 figures, 2 tables, accepted at 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)
- Published
- 2020
4. Discrete Opinion Dynamics with Social Bots on Signed Network
- Author
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Changbin Yu, Chun Cheng, and Yun Luo
- Subjects
Value (ethics) ,0209 industrial biotechnology ,education.field_of_study ,business.industry ,Multi-agent system ,Internet privacy ,Population ,02 engineering and technology ,Public opinion ,020901 industrial engineering & automation ,Opinion dynamics ,Order (exchange) ,0202 electrical engineering, electronic engineering, information engineering ,Selection (linguistics) ,020201 artificial intelligence & image processing ,Convergence (relationship) ,business ,education ,Psychology - Abstract
Individuals’ opinions are affected by their friends or enemies and the relationship can be abstracted as a signed network. However, the emergence of social bots can bring adverse effect to people on the signed network, like misleading the public opinion. In this paper, in order to study the mechanism by which social bots can influence public opinion, we proposed a opinion dynamics model of signed network to study the how the opinion dynamics evolves based on multi-agent model. Afterwards, we give the condition when the probabilities of individuals’ selection of opinions will converge in this model. At last, we simulated to show the convergence of our model, and study the effect of different number of social bots and confidence level to the public opinion. The results shows with the increase of the number of social bots, the public opinion is lead out of balance more severely, and as the proportion of social bots reaches 20%, the public opinion of human agents are mislead, and the opinion held by social bots will be the final opinion in the human population. For the population of human agents and social bots, 17% social bots is needed to lead the public opinion. The value of self-confidence has no effect on the final opinion in the signed network, but only whether people are affected by others has influence on the final opinion.
- Published
- 2020
5. 2.5D Image-based Robotic Grasping
- Author
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Yaoxian Song, Qingchen Liu, Li Xiangqing, Chun Cheng, Fei Yuejiao, and Changbin Yu
- Subjects
Robotic systems ,Artificial neural network ,Data sampling ,Computer science ,business.industry ,Robustness (computer science) ,GRASP ,Computer vision ,Artificial intelligence ,business ,Rgb image ,Image based - Abstract
We consider the problem of robotic grasping by 2. 5D image data sampling from a real sensor. We design an encoder-decoder neural network to predict grasping policy in real-time which enhances the robustness for the policy generation at different observation heights by fusing depth image and RGB image. We propose an open-loop algorithm to realize robotic grasp operation and evaluate our method in a physical robotic system. The result shows that our method is competitive with the state-of-the-art in grasp performance, real-time and model size. The video is available in https://youtu.be/Wxw_r5a8qV0.
- Published
- 2019
6. UG-Net for Robotic Grasping using Only Depth Image
- Author
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Fei Yuejiao, Yaoxian Song, Changbin Yu, Chun Cheng, and Li Xiangqing
- Subjects
TheoryofComputation_MISCELLANEOUS ,0209 industrial biotechnology ,Artificial neural network ,Pixel ,Computer science ,business.industry ,Computation ,GRASP ,02 engineering and technology ,Object (computer science) ,Convolutional neural network ,Set (abstract data type) ,020901 industrial engineering & automation ,0202 electrical engineering, electronic engineering, information engineering ,Benchmark (computing) ,020201 artificial intelligence & image processing ,Computer vision ,Artificial intelligence ,business - Abstract
In this work, we present a real-time, deep convolutional encoder-decoder neural network to realize open-loop robotic grasping using only depth image information. Our proposed U-Grasping fully convolutional neural network(UG-Net) predicts the quality and the pose of grasp in pixel-wise. Using only depth information to predict each pixel's grasp policy overcomes the limitation of sampling discrete grasp candidates which can take a lot of computation time. Our UG-Net improves the grasp quality comparing to other pixel-wise grasping learning methods, more robust grasping decision making within 27ms with 370MB parameters approximately (a light competitive version is also given). In the physical experiment, we achieve 93.08% and 93.23% grasp success rate on a 3D-printed adversarial object benchmark set and a household object benchmark set.
- Published
- 2019
7. Group Pressure Leads to Consensus of Hegselmann-Krause Opinion Dynamics
- Author
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Changbin Yu, Chun Cheng, and Yaoxian Song
- Subjects
Bound (value) ,0209 industrial biotechnology ,020901 industrial engineering & automation ,Opinion dynamics ,Expression (architecture) ,If and only if ,Group (mathematics) ,0202 electrical engineering, electronic engineering, information engineering ,020201 artificial intelligence & image processing ,02 engineering and technology ,Finite time ,Mathematical economics ,Opinion formation - Abstract
A typical assumption concluded from the existing opinion formation models is that two individuals (agents) can communicate with each other only if the distance between their opinions is less than a threshold which is called confidence bound. However, in the real world, formation of opinion and expression may be different, for the reason that agent feels pressured to express opinion that is similar to the dominant opinion in the group. In this paper, a modified Hegselmann-Krause (H-K) model is introduced by integrating the opinion dynamics with confidence bound and group pressure, which describes the evolution of an individual’s opinion that conform to the dominant opinion under group pressure. We find that, when there is only one agent hold dominant opinion, the system can always achieve a consensus in a finite time regardless of the confidence bound value. In generalized case, we further establish a sufficient condition for multiple agents with dominant opinions, we prove that in this condition the whole group could also reach a consensus.
- Published
- 2019
8. Fixed-Time Rigidity-Based 3-D Formation Maneuvering Control With Distributed Finite-time Velocity Estimators
- Author
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Wenbo Tan, Chaoliang Zhong, Na Huang, Chao Huang, and Changbin Yu
- Subjects
Lyapunov function ,0209 industrial biotechnology ,Computer science ,Infinitesimal ,Estimator ,Rigidity (psychology) ,02 engineering and technology ,Stability (probability) ,Velocity vector ,symbols.namesake ,020901 industrial engineering & automation ,Control theory ,Stability theory ,Control system ,0202 electrical engineering, electronic engineering, information engineering ,symbols ,Trajectory ,020201 artificial intelligence & image processing - Abstract
In this paper, a fixed-time rigidity-based formation maneuvering control system with distributed finite-time velocity estimator is studied. The controller of the system is realized by using the local coordinate frames of the agents without the global coordinate information. We design a distributed finite-time velocity estimator, in which the desired velocity vector is considered to be available to part with agents directly, and it can be estimated at finite-time for each agent. The target formation graph is assumed to be minimally and infinitesimally rigid. A distance-based formation maneuvering controller has been presented, which proves that in 3-D space, the agents could escape from collinear environment. Meanwhile, the formation can achieve the desired shape and track the velocity trajectory in fixed-time after the estimator estimates the velocity in finite-time. The stability and convergence of the formation maneuvering system is proved by Lyapunov and input-to-state stability theory. Finally, simulations are provided to validate the performance and effectiveness of the proposed schemes.
- Published
- 2019
9. Control Design and Analysis of An Epidemic SEIV Model upon Adaptive Network
- Author
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Jonghyuk Kim, Changbin Yu, Zhixun Li, and Jie Hong
- Subjects
Lyapunov function ,0209 industrial biotechnology ,Mathematical optimization ,Computer science ,020208 electrical & electronic engineering ,Control (management) ,Stability (learning theory) ,02 engineering and technology ,Complex network ,Network planning and design ,symbols.namesake ,020901 industrial engineering & automation ,Recovery rate ,0202 electrical engineering, electronic engineering, information engineering ,symbols ,Disease prevention ,Epidemic model - Abstract
© 2019 EUCA. This paper focuses on the control design and stability analysis of a Susceptible-Exposed-Infected-Vigilant (SEIV) epidemic model via adaptive complex networks. The network is designed empirically as a state-dependent network, where the network structure keeps changing to inhibit the epidemic propagation. The recovery rate and the disease prevention rate are chosen as the control scheme in the epidemic system, both of which are closely associated with medical resources allocation. People may cut the connection with an infected neighbor and reduce the frequency to go out when an epidemic occurs. In order to formulate this behavior, an adaptive network structure is presented which is designed to be consistent with real human contact behaviors under epidemic prevalence. A candidate Lyapunov function is employed to analyze the system stability and guarantee the extinction of the epidemic. Simulation results are shown to illustrate the high efficiency and validity of the parameter control and the adaptive network design.
- Published
- 2019
10. Awareness design and analysis upon two infectious states based on susceptible-exposed-infected-vigilant (SEIV) model
- Author
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Changbin Yu, Zhixun Li, Zhiyong Sun, and Jie Hong
- Subjects
0301 basic medicine ,0209 industrial biotechnology ,03 medical and health sciences ,030104 developmental biology ,020901 industrial engineering & automation ,Risk analysis (engineering) ,Computer science ,Epidemic dynamics ,Outbreak ,02 engineering and technology ,Disease transmission - Abstract
In this paper, the interaction between human awareness design and epidemic dynamics over arbitrary directed networks has been studied. People gain awareness and fear of the disease from three information sources and a novel awareness design upon two infectious states is proposed to reduce the susceptibility of individuals, which in turn could affect the threshold and outbreak of the epidemic spreading system. The novel awareness response design is applied to a continuous mean-field SEIV model to illustrate the effectiveness of the system. The system global exponential stability analysis and epidemic threshold embedded with human awareness are proposed in this paper. Simulation studies are carried out to verify the effectiveness of two human awareness which can increase the epidemic threshold, reduce the epidemic breakout scale and inhibit disease transmission.
- Published
- 2017
11. Measurement-wise recursive TDoA-based localization using local straight line approximation
- Author
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Jonghyuk Kim, Junming Wei, Changbin Yu, and Yonhon Ng
- Subjects
Noise ,Intersection (set theory) ,Position (vector) ,Computer science ,Simple (abstract algebra) ,Monte Carlo method ,Measurement uncertainty ,Point (geometry) ,Multilateration ,Algorithm - Abstract
Locating the position of a target is a fundamental task in most robotic systems. This paper focuses on a passive localization method. The presented method uses passive, synchronised and localized radio sensors to take the time-difference-of-arrival (TDoA) measurements for different pairs of sensors, with reference to an unknown target-emitted radio signal. The localization method is simple, memory efficient and robust. Importantly, the proposed measurement-wise recursive method is suitable for real-time application of time-critical robotic systems. The method is easily transferable to other problems that involve finding the intersection point of multiple (curved) lines in the presence of noise. Monte Carlo simulations and experimental tests on real data were conducted to evaluate the performance of our localization method. The results obtained compare favourably to other well-known methods.
- Published
- 2017
12. Edge-event-based multi-agent consensus with Zeno-free triggers under synchronized/unsynchronized clocks
- Author
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Pengfei Fang, Qingchen Liu, Changbin Yu, Xiaolei Hou, and Jiahu Qin
- Subjects
0209 industrial biotechnology ,Computer science ,Event (computing) ,020208 electrical & electronic engineering ,Real-time computing ,02 engineering and technology ,Measure (mathematics) ,Synchronization ,020901 industrial engineering & automation ,Asynchronous communication ,0202 electrical engineering, electronic engineering, information engineering ,Algorithm design ,Enhanced Data Rates for GSM Evolution ,State (computer science) - Abstract
In this paper, we present novel edge-event-based triggering algorithms to achieve multi-agent consensus with Zeno-free triggers. The control inputs and triggering conditions for each agent are designed based only on relative state measurements in each agent's own local coordinate system. The existence of strictly positive minimal inter-event times guarantees the elimination of Zeno behaviour. Two cases, namely the synchronized clock case and the unsynchronized clock case, are studied. In the synchronized clock case, all agents are activated simultaneously to measure the relative state information over edge links under a global clock. Edge events are defined and their occurrences trigger the update of control inputs for the two agents sharing the link. We show that average consensus can be achieved with our proposed algorithm. In the unsynchronized clock case, each agent executes control algorithms under its own clock which is not synchronized with other agents' clocks. An edge event only triggers control input update for an individual agent. Detailed explanations and analysis are provided to show that all agents will reach consensus in a totally asynchronous manner. Numerical simulations are given to verify the effectiveness of the proposed algorithms.
- Published
- 2017
13. The Altitude Hold Algorithm of UAV Based on Millimeter Wave Radar Sensors
- Author
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YangGuang Yu, Wei Liu, Yongwei Zhang, Xiangke Wang, and Changbin Yu
- Subjects
0209 industrial biotechnology ,Computer science ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,Mode (statistics) ,Serial port ,ComputerApplications_COMPUTERSINOTHERSYSTEMS ,020206 networking & telecommunications ,02 engineering and technology ,Accelerometer ,Motion capture ,law.invention ,020901 industrial engineering & automation ,Altitude ,law ,Extremely high frequency ,0202 electrical engineering, electronic engineering, information engineering ,Fuse (electrical) ,ComputerSystemsOrganization_SPECIAL-PURPOSEANDAPPLICATION-BASEDSYSTEMS ,Radar ,Algorithm ,Simulation - Abstract
In order to make the unmanned air vehicle(UAV) in the flight process to better complete the altitude control, and can perform more accurate tasks. This paper presents the altitude control based on Millimeter Wave Radar sensors, and combined with the Pixhawk (The flight controller of UAVs) design altitude hold algorithm. The main idea is to transmit the sensor's measurement data to the Pixhawk via the serial port and to fuse with the predictor of the accelerometer. At the same time, the telecontroller switch into Altitude Hold Mode (It is a mode that can make the UAV keep a fixed altitude flight). The UAV will be keeping the target altitude which is set in the program. Finally, compared with the data collected by the Vicon (Motion capture system), to verify the effect of the algorithm. The experimental results show that the Millimeter Wave Radar sensors accuracy meet the demand of subject, and the UAV flight is very stable.
- Published
- 2017
14. An improved adaptive propagation chaotic particle swarm optimization algorithm based on immune selection
- Author
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Changbin Yu, Hao Lan Zhang, Ke Huang, and Yiwen Wang
- Subjects
0209 industrial biotechnology ,Optimization problem ,Particle swarm optimization ,02 engineering and technology ,020901 industrial engineering & automation ,Rate of convergence ,Immune selection ,Chaotic particle swarm optimization ,Convergence (routing) ,0202 electrical engineering, electronic engineering, information engineering ,020201 artificial intelligence & image processing ,Algorithm design ,Multi-swarm optimization ,Algorithm - Abstract
The particle swarm optimization algorithm is improved by introducing the immune selection, adaptive propagation, multi-population evolution. An improved adaptive propagation chaotic particle swarm optimization algorithm based on immune selection (IS-APCPSO algorithm for short) is proposed in this paper. The performance of several algorithms has been compared by a classic example of traffic network optimization. It is proved that the improved algorithm in accelerating convergence rate, increasing the diversity of particles, and preventing premature phenomenon is effective. The novel algorithm is expected to be used in the model solution of large-scale complex traffic network optimization problem.
- Published
- 2017
15. Distributed cooperation of directed coupled double-integrator agents using sampled and delayed position data
- Author
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Changbin Yu, Chao Huang, Na Huang, and Pengfei Fang
- Subjects
Consensus algorithm ,Coupling ,0209 industrial biotechnology ,Double integrator ,020901 industrial engineering & automation ,Control theory ,Computer science ,Position (vector) ,020208 electrical & electronic engineering ,Control (management) ,0202 electrical engineering, electronic engineering, information engineering ,02 engineering and technology ,Protocol (object-oriented programming) - Abstract
This paper considers how to design consensus algorithms using only sampled position data instead of involving real-time ones under directed coupling graphs. The proposed consensus algorithm utilizes only sampled position information and consists of two parts: a general part with communication delay and a special part with both communication and forced delays. A necessary and sufficient condition is provided for achieving consensus under the designed cooperative control law. Simulations are also provided to validate the proposed control protocol.
- Published
- 2017
16. Behavior analysis of epidemiological patients for medical site treatment from a spatial perspective
- Author
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Yin-Lu, Changbin Yu, Xiao-Ming Li, Pang Chaoyi, Yiwen Wang, Yang Jiangang, Ming-Fang Dai, and Zhensheng Wang
- Subjects
medicine.medical_specialty ,business.industry ,05 social sciences ,Perspective (graphical) ,0211 other engineering and technologies ,0507 social and economic geography ,Spatial epidemiology ,021107 urban & regional planning ,02 engineering and technology ,Field (geography) ,Market research ,Geography ,Epidemiology ,Regional science ,medicine ,business ,China ,050703 geography ,Assessment evaluation - Abstract
Spatial epidemiology, as an important branch of epidemiology, is attracting people's attention increasingly. Spatial assessment evaluation, as a non-typical research point of spatial epidemiology, is still attracting our attention in the field of spatial epidemiology. However, little research on behavior analysis about how people go to doctor exists, which is emphasized on in this paper from a spatial perspective. Meanwhile, the real situation is also compared with two proposed trends (i.e., trend influenced by spatial distance, trend influenced by familiarity degree) taking Ningbo city, Zhejiang province, China as example.
- Published
- 2017
17. Clustering by Creating a Graph
- Author
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Hao Lan Zhang, Changbin Yu, Yiwen Wang, Honglei Cui, and Ke Huang
- Subjects
Theoretical computer science ,Fuzzy clustering ,Computer science ,Single-linkage clustering ,Correlation clustering ,Constrained clustering ,02 engineering and technology ,Mixture model ,Graph ,Hierarchical clustering ,Determining the number of clusters in a data set ,Biclustering ,Data stream clustering ,CURE data clustering algorithm ,020204 information systems ,Consensus clustering ,0202 electrical engineering, electronic engineering, information engineering ,Canopy clustering algorithm ,Graph (abstract data type) ,Affinity propagation ,020201 artificial intelligence & image processing ,Algorithm design ,Cluster analysis ,k-medians clustering - Abstract
In this paper, we presented a novel graph-based clustering algorithm (GC). GC contains two main steps: the first step is to create a graph and find out the key nodes as centers, the second step is to divide every data point to each center. The centers are selected from a graph view. Experimental results on 8 datasets demonstrated that GC could do better than k-means, k-medoids, Hierarchical Clustering and Gaussian Mixture Models. Moreover, the most important parameter of clustering algorithms is the number of clusters K and the comparing algorithms need K set to true number of clusters. But for GC, the only requirement is that K is not less than the true number of clusters.
- Published
- 2016
18. Event-based multi-agent cooperative control with quantized relative state measurements
- Author
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Qingchen Liu, Changbin Yu, and Jiahu Qin
- Subjects
0209 industrial biotechnology ,Logarithm ,Control (management) ,02 engineering and technology ,020901 industrial engineering & automation ,Control theory ,Integrator ,0202 electrical engineering, electronic engineering, information engineering ,Symmetric matrix ,020201 artificial intelligence & image processing ,Algorithm design ,State (computer science) ,Constant (mathematics) ,Event (probability theory) ,Mathematics - Abstract
In this paper, we develop two event-triggered controllers with quantized relative state measurements to achieve consensus for an undirected network where each agent is modelled by single integrator dynamics. Both uniform and logarithmic quantizers are considered, which, together with two different controllers, yield four cases of study in this paper. The quantized information is used to update the control input as well as to determine the next trigger event. We show that approximate consensus can be achieved by the proposed algorithms and Zeno behavior can be completely excluded if constant offsets with some computable lower bounds are added to the trigger conditions. Numerical simulations are provided to illustrate the effectiveness of each proposed algorithm.
- Published
- 2016
19. Model-independent trajectory tracking of Euler-Lagrange agents on directed networks
- Author
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Changbin Yu, Mengbin Ye, and Brian D. O. Anderson
- Subjects
0209 industrial biotechnology ,Mathematical optimization ,Node (networking) ,020208 electrical & electronic engineering ,Stability (learning theory) ,02 engineering and technology ,Directed graph ,Synchronization ,Computer Science::Multiagent Systems ,020901 industrial engineering & automation ,Bounding overwatch ,0202 electrical engineering, electronic engineering, information engineering ,Trajectory ,Symmetric matrix ,Algorithm design ,Mathematics - Abstract
The problem of trajectory tracking of a moving leader for a directed network where each fully-actuated agent has Euler-Lagrange self-dynamics is studied in this paper using a distributed, model-independent control law. We show that if the directed graph contains a directed spanning tree, with the leader as the root node, then a model-independent algorithm semi-globally achieves the trajectory tracking objective exponentially fast. By model-independent we mean that each agent can execute the algorithm with no knowledge of the agent self-dynamics, though reasonably, certain bounds are known. For stability, a pair of control gains for each agent are required to satisfy lower bounding inequalities and so design of the algorithm is centralised and requires some limited knowledge of global information. Numerical simulations are provided to illustrate the algorithm's effectiveness.
- Published
- 2016
20. Event-based leader-follower consensus for multiple Euler-Lagrange systems with parametric uncertainties
- Author
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Jiahu Qin, Qingchen Liu, Changbin Yu, and Mengbin Ye
- Subjects
0209 industrial biotechnology ,Mathematical optimization ,Node (networking) ,020208 electrical & electronic engineering ,02 engineering and technology ,Interval (mathematics) ,Function (mathematics) ,Upper and lower bounds ,Computer Science::Multiagent Systems ,020901 industrial engineering & automation ,Control theory ,0202 electrical engineering, electronic engineering, information engineering ,Piecewise ,Event (probability theory) ,Mathematics ,Parametric statistics - Abstract
An adaptive, distributed, event-triggered controller is proposed in this paper to study the problem of leader-follower consensus for a directed network of Euler-Lagrange agents. We show that if each agent uses the proposed controller, the leader-follower consensus objective is globally asymptotically achieved if the directed network contains a directed spanning tree with the leader as the root node. We provide a trigger function to govern the event time; at each event time the controller is updated. In doing so, we also obtain an explicit lower bound on the time interval between events and thus we conclude that the proposed controller does not exhibit Zeno behavior. Simulations are provided which show the effectiveness of the proposed controller. Also shown in the simulations is the piecewise constant nature of the control law; this significantly reduces the number of updates required by each actuator, thereby saving energy resources.
- Published
- 2016
21. A variable gain model-independent algorithm for rendezvous of Euler-Lagrange agents on directed networks
- Author
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Mengbin Ye, Changbin Yu, and Brian D. O. Anderson
- Subjects
Lyapunov function ,0209 industrial biotechnology ,Computer science ,020208 electrical & electronic engineering ,Rendezvous ,Stability (learning theory) ,02 engineering and technology ,Term (time) ,Variable (computer science) ,symbols.namesake ,020901 industrial engineering & automation ,Control theory ,Convergence (routing) ,0202 electrical engineering, electronic engineering, information engineering ,symbols ,Key (cryptography) ,Simulation - Abstract
A variable-gain model-independent control law is proposed to solve the problem of rendezvous to a leader for a directed network of Euler-Lagrange agents. A sufficiency condition for stability is developed, requiring centralised design of the two control gains. Compared to existing results which use constant-gain model-independent controllers for directed networks, our work has two key differences. Firstly, the damping term may begin at zero, and increases only if rendezvous has not been achieved. Constant-gain controllers use conservative gain values which negatively impact convergence speed. Secondly, we introduce a novel method of analysing the Lyapunov derivative, which provides useful and unique insight into analysis of variable-gain controllers for multi-agent systems. Simulations are provided to show the effectiveness of the controller.
- Published
- 2016
22. Uniform upper bound of the spectrum of rooted graphs
- Author
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Qingchen Liu, Changbin Yu, and Chao Huang
- Subjects
0209 industrial biotechnology ,Computer science ,010102 general mathematics ,Spectrum (functional analysis) ,Topology (electrical circuits) ,02 engineering and technology ,computer.software_genre ,01 natural sciences ,Upper and lower bounds ,Scrambling ,Combinatorics ,Indifference graph ,020901 industrial engineering & automation ,Chordal graph ,Canonical form ,Data mining ,0101 mathematics ,Constant (mathematics) ,computer - Abstract
Given the number of vertices only, we provide a uniform upper bound for spectrum of rooted graphs under the equal-neighbor rule, by acquiring the tight upper bound of the scrambling constant (SC). Furthermore, with the concept of canonical form of rooted graphs, we find the least connective topology of rooted graphs in the sense of SC.
- Published
- 2016
23. Finite time synchronization of networked Kuramoto-like oscillators
- Author
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Xiaoxiang Zhang, Zhiyong Sun, and Changbin Yu
- Subjects
Lyapunov function ,0209 industrial biotechnology ,Continuous phase modulation ,Synchronization networks ,Computer science ,Settling time ,020208 electrical & electronic engineering ,Natural frequency ,02 engineering and technology ,Topology ,symbols.namesake ,020901 industrial engineering & automation ,Synchronization (computer science) ,0202 electrical engineering, electronic engineering, information engineering ,symbols ,Finite time ,Simulation - Abstract
In this paper we consider the finite time synchronization problem for networked Kuramoto oscillators. We propose two types of synchronization protocols, both of which involve continuous phase couplings. Based on the finite time Lyapunov theory, we prove that if initial phases of all oscillators are located in a semi-circle, then their phases will reach synchronization within a finite time. The upper bounds of the finite settling time for both synchronization protocols are also derived. We then extend the results to the case of Kuramoto oscillators with identical natural frequency. Several simulations are presented to demonstrate the performance of the proposed finite time phase-coupling controllers.
- Published
- 2016
24. Non-iterative, fast SE(3) path smoothing
- Author
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Hongdong Li, Changbin Yu, Yonhon Ng, and Bomin Jiang
- Subjects
Mathematical optimization ,Noise measurement ,Iterative method ,Computation ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,Euclidean group ,020206 networking & telecommunications ,02 engineering and technology ,Manifold ,Direct computation ,Kernel (image processing) ,0202 electrical engineering, electronic engineering, information engineering ,020201 artificial intelligence & image processing ,Algorithm ,Smoothing ,ComputingMethodologies_COMPUTERGRAPHICS ,Mathematics - Abstract
In this paper, we present a fast, non-iterative approach to smooth a noisy input on the Special Euclidean Group, SE(3) manifold. The translational part can be smoothed by a simple Gaussian convolution. We then proposed a novel approach to rotation smoothing. Unlike existing rotation smoothing methods using either iterative optimization methods or stochastic filtering methods, our method allows direct computation of the smoothing result and allows parallelization of the computation. Furthermore, we have done a comparative study on Jia and Evans's method published in 2014 [1], and shown that our method can better smooth an input rotation sequence, with shorter computational time. The smoothed camera path is then used for video stabilisation, which shows fluid and smooth camera motion.
- Published
- 2016
25. Visual saliency landmark detection algorithm based on DNN feature extraction
- Author
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Yihui Zhou, Yanyan Wei, Changbin Yu, Shan Jiang, and Chunhui Zhao
- Subjects
Landmark ,Artificial neural network ,business.industry ,Computer science ,Deep learning ,05 social sciences ,Feature extraction ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,Pattern recognition ,02 engineering and technology ,050105 experimental psychology ,Robustness (computer science) ,0202 electrical engineering, electronic engineering, information engineering ,020201 artificial intelligence & image processing ,0501 psychology and cognitive sciences ,Satellite navigation ,Computer vision ,Artificial intelligence ,business ,Algorithm ,Inertial navigation system ,Visual saliency - Abstract
The integrated navigation pattern that is formed by the scene matching navigation and the inertial navigation or the satellite navigation is an important development direction of UAV autonomous navigation technology. As for the error identification problem of matching area in the process of scene matching landmark detection, the algorithm of visual saliency landmark detection for scene matching based on deep neural network for feature extraction is proposed. The experiments illustrated that the algorithm can effectively solve the problem of landmark detection in different environments and improve the robustness and effectiveness of landmark detection.
- Published
- 2016
26. Low altitude sense and avoid for MUAV based on stereo vision
- Author
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Changbin Yu, Yang Lv, Zhu Kaixuan, Zhang Qingchun, Jun Hou, and Yizhai Zhang
- Subjects
Low altitude ,0209 industrial biotechnology ,Sense and avoid ,business.industry ,Computer science ,Payload ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,ComputerApplications_COMPUTERSINOTHERSYSTEMS ,02 engineering and technology ,Collision ,law.invention ,020901 industrial engineering & automation ,Stereopsis ,law ,Obstacle ,0202 electrical engineering, electronic engineering, information engineering ,Key (cryptography) ,020201 artificial intelligence & image processing ,Computer vision ,Artificial intelligence ,Radar ,business - Abstract
The performance of SAA (Sense and Avoid) for UAV (Unmanned Aerial Vehicle) is the key function to ensure the UAV's autonomous flight safety. Due to the limitation of payload and size, the micro UAV can't equip large sensors such as radar, etc. Toward the challenging operation condition in low altitude flight environment, we proposed a complete stereo vision based SAA solution suitable for MUAV (Micro Unmanned Aerial Vehicle). By processing the stereo vision data onboard the micro UAV, the proposed method is able to efficiently detect obstacle, evaluate threat level and perform collision avoid maneuver. Experimental results show that the SAA method based on stereo vision can achieve accurate obstacles sensing and effective avoidance maneuver in low altitude airspace, The proposed SAA method can be a practical resolution to ensure low altitude SUAV's safety.
- Published
- 2016
27. Distributed consensus using sampled position data for second-order multi-agent systems with communication delay
- Author
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Zhisheng Duan, Na Huang, and Changbin Yu
- Subjects
0209 industrial biotechnology ,Multi-agent system ,020208 electrical & electronic engineering ,Topology (electrical circuits) ,02 engineering and technology ,Computer Science::Multiagent Systems ,020901 industrial engineering & automation ,Consensus ,Coupling (computer programming) ,Position (vector) ,Control theory ,Bounded function ,0202 electrical engineering, electronic engineering, information engineering ,Laplacian matrix ,Protocol (object-oriented programming) ,Mathematics - Abstract
This paper investigates the distributed consensus for second-order multi-agent systems via a novel cooperative protocol which involves only sampled position data of each agent. The proposed consensus algorithm consists of two parts: a general part with communication delay and a special part with both communication and forced delays. It is revealed that the forced delay is lower bounded by a threshold and plays an important role for achieving consensus. A necessary and sufficient condition with respect to the sampling period, coupling gains, time delays, and eigenvalues of the Laplacian matrix, is established for achieving consensus under an undirected interaction topology. It is found that choosing a relatively small sampling period does not necessarily promote achieving consensus under fixed coupling gains and time delays. Finally, some illustrative examples are provided to demonstrate the effectiveness of the theoretical findings.
- Published
- 2016
28. Distributed translation and attitude synchronization for multiple rigid bodies using dual quaternions
- Author
-
Changbin Yu, Yinqiu Wang, and Fengmin Yu
- Subjects
0209 industrial biotechnology ,Computer science ,02 engineering and technology ,Translation (geometry) ,01 natural sciences ,020901 industrial engineering & automation ,Control theory ,0103 physical sciences ,Synchronization (computer science) ,Control (linguistics) ,Quaternion ,Dual quaternion ,010301 acoustics ,ComputingMethodologies_COMPUTERGRAPHICS - Abstract
In this paper, we investigate the distributed synchronization problem for multiple fully actuated rigid bodies without a leader. A new mathematical tool-dual quaternion is employed to design the distributed control law. The definition and some properties about dual quaternion are introduced. A distributed control law is proposed to control the attitude and translation of these rigid bodies simultaneously with notion concision and non-singularity. And the analysis based on dual quaternion is a unified solution for the attitude and translation. Finally, the proposed control algorithm is simulated to illustrate the theoretical results.
- Published
- 2016
29. Rigid body motion stability of translation and rotation without linear and angular velocity measurements via dual quaternion
- Author
-
Changbin Yu and Yinqiu Wang
- Subjects
0209 industrial biotechnology ,Angular velocity ,02 engineering and technology ,Translation (geometry) ,Rigid body ,01 natural sciences ,Constant linear velocity ,020901 industrial engineering & automation ,Control theory ,0103 physical sciences ,Rational motion ,Poinsot's ellipsoid ,Dual quaternion ,010301 acoustics ,Rotation (mathematics) ,Mathematics - Abstract
In this paper, we propose dual quaternion based dynamic output feedbacks for the translational and rotational stability problem of a rigid body without linear velocity and angular velocity measurements. Dual quaternion is a new kind of tools to express the motion of rigid bodies in 3D space, including translation and rotation. Our approach consists of an output feedback controller and introducing an auxiliary system whose input is the relative error between the states of the rigid body and the states of the auxiliary system. The resulting linear and angular velocity free control algorithm guarantees the asymptotical stability of the rigid body. Next, a stability algorithm based on unit dual quaternion is also proposed for the rigid body under its general dynamics. One simulation is provided to show the effectiveness of the proposed control algorithm.
- Published
- 2016
30. Controlling the shape and scale of triangular formations using landmarks and bearing-only sensing
- Author
-
Adrian N. Bishop, Changbin Yu, Isaac Luke Manuel, and Brian D. O. Anderson
- Subjects
0209 industrial biotechnology ,Engineering ,Bearing (mechanical) ,Scale (ratio) ,Exponential convergence ,business.industry ,Work (physics) ,020206 networking & telecommunications ,02 engineering and technology ,Edge (geometry) ,Topology ,Stability (probability) ,law.invention ,020901 industrial engineering & automation ,Control theory ,law ,Position (vector) ,0202 electrical engineering, electronic engineering, information engineering ,business - Abstract
This work considers the scenario where three agents that can sense only bearings use two landmarks to control their formation shape. We define a method of relating the known distance separating the landmarks back to the edge lengths of the triangular formation. The result is used to define a formation control law that incorporates inter-agent distance constraints. We prove a strong exponential convergence result and show how one can extend the controller such that global stability from any initial position is possible.
- Published
- 2016
31. A UAV sense and avoid system design method based on software simulation
- Author
-
Chunhui Zhao, Quan Pan, Jinwen Hu, Yang Lyu, and Changbin Yu
- Subjects
020301 aerospace & aeronautics ,0209 industrial biotechnology ,Engineering ,Radar tracker ,business.industry ,InformationSystems_INFORMATIONSYSTEMSAPPLICATIONS ,media_common.quotation_subject ,Control engineering ,02 engineering and technology ,computer.software_genre ,Data modeling ,Simulation software ,020901 industrial engineering & automation ,Software ,0203 mechanical engineering ,Systems design ,System integration ,Algorithm design ,business ,Function (engineering) ,computer ,media_common - Abstract
Sense and Avoid (SAA) has been identified as one of the crucial technologies for UAV safety flight. The SAA systematic design is to develop a system with sensor configuration and SAA algorithms. Normally, the SAA system integration and test can be both expensive and dangerous without carefully system and algorithms development. In this paper, we proposed a software based SAA simulation framework for SAA system configuration and algorithms design. First, the software structure and functional submodules are described. Then the SAA function is modelled and optimization based algorithms integrating environment sensing, collision evaluation and avoidance. Simulation results and analysis are provided to validate the simulation software and algorithms. By configuring the sensors and adjusting the algorithms parameters, the software based simulation framework can act as a guidance to the development of practical SAA systems.
- Published
- 2016
32. Adaptive tracking algorithm for a rigid spacecraft with input saturation
- Author
-
Changbin Yu, Adrian N. Bishop, Fengmin Yu, and Yinqiu Wang
- Subjects
0209 industrial biotechnology ,Engineering ,Spacecraft ,business.industry ,Angular velocity ,02 engineering and technology ,01 natural sciences ,Electronic mail ,Vehicle dynamics ,Attitude control ,020901 industrial engineering & automation ,Control theory ,0103 physical sciences ,business ,Saturation (chemistry) ,Quaternion ,010301 acoustics - Abstract
© 2016 IEEE. In this paper, the tracking problem for a rigid spacecraft with input saturation is investigated. Due to the complexity of the dynamic of a rigid spacecraft, a hierarchical control scheme, dividing the model of a rigid spacecraft into translational level and attitude level, is designed. The controllers for translational dynamic and attitude dynamic of the six-freedom-degrees spacecraft are successively proposed respectively. The input saturation is also considered in designing the two controllers. For translational level, a kind of special saturation function is employed to get the controller whose amplitude is constrained. For the attitude dynamic, a new adaptive quaternion-based control scheme is proposed to withstand the effect of bounded uncertain items and input saturation. Finally, simulation results are provided to show the effectiveness of the proposed scheme.
- Published
- 2016
33. Model-independent rendezvous of Euler-Lagrange agents on directed networks
- Author
-
Brian D. O. Anderson, Changbin Yu, and Mengbin Ye
- Subjects
Computer Science::Multiagent Systems ,Mathematical optimization ,Node (networking) ,Knowledge engineering ,Rendezvous ,Stability (learning theory) ,Symmetric matrix ,Algorithm design ,Directed graph ,Network topology ,Mathematics - Abstract
This paper proposes a distributed, modelindependent algorithm to achieve rendezvous to a stationary leader for a directed network where each fully-actuated agent has Euler-Lagrange self-dynamics. We show that if the directed graph contains a directed spanning tree, with the leader as the root node and with no incoming edges, then a model-independent algorithm semi-globally achieves the rendezvous objective exponentially fast. By model-independent we mean that each agent can execute the algorithm with no knowledge of the parameters of the self-dynamics of any agent in the network. For stability, a pair of control gain terms for each agent are required to meet several inequalities and so design of the algorithm requires some limited knowledge of global information. Numerical simulations are provided to illustrate the algorithm's effectiveness.
- Published
- 2015
34. Generalized controllers for rigid formation stabilization with application to event-based controller design
- Author
-
Qingchen Liu, Brian D. O. Anderson, Z. Sun, and Changbin Yu
- Subjects
Scheme (programming language) ,Exponential stability ,Control theory ,education ,Convergence (routing) ,Stability (learning theory) ,Symmetric matrix ,Function (mathematics) ,computer ,computer.programming_language ,Mathematics ,Event (probability theory) - Abstract
This paper discusses generalized controllers for rigid formation shape stabilization. We provide unified analysis to show convergence using different controllers reported in the literature, and further prove an exponential stability of the formation system when using the general form of shape controllers. We also show that different agents can use different controllers for controlling different distances to achieve a desired rigid formation, which enables the implementation of heterogeneous agents in practice for formation shape control. We further propose an event-triggered rigid formation control scheme based on the generalized controllers. The triggering condition, event function and convergence analysis are discussed.
- Published
- 2015
35. Distributed optimization on proximity network rigidity via robotic movements
- Author
-
Changbin Yu, Brian D. O. Anderson, and Zhiyong Sun
- Subjects
Computer Science::Robotics ,Mathematical optimization ,Optimization problem ,Power iteration ,Control theory ,Metric (mathematics) ,Robot ,Rigidity (psychology) ,Network topology ,Eigenvalues and eigenvectors ,Mathematics ,Gramian matrix - Abstract
This paper considers a rigidity optimization problem for mobile robotic teams modeled in a proximity network with state-dependent network topology. The aim is to move all robots' positions to reach a configuration such that the worst-case rigidity metric can be maximized. Key properties of a Gramian matrix involving a weighted rigidity matrix are discussed for solving this optimization problem. We design a decentralized algorithm to update all robots' positions to maximize the eigenvalue function, which requires local information from each robot itself and its neighbors. Furthermore, a distributed eigenvector estimation scheme based on inverse shifted power iteration method and averaging consensus algorithm is devised to allow each robot to estimate the global eigenvector information. Simulation results are also provided to demonstrate the effectiveness of the estimation and optimization scheme.
- Published
- 2015
36. Distance-based formation shape stabilisation via event-triggered control
- Author
-
Changbin Yu, Qingchen Liu, Jiahu Qin, and Zhiyong Sun
- Subjects
Exponential stability ,Control theory ,Control (linguistics) ,Upper and lower bounds ,Event triggered ,Graph rigidity ,Distance based ,Mathematics - Abstract
Existing results on distance-based rigid formation stabilization commonly require continuous measurements and control update. In this paper, we consider an event-triggered scheme for distance-based formation control problem. We prove the local exponential stability of this event-driven system for stabilizing formations which are infinitesimally and minimally rigid. Furthermore, we prove that Zeno-behavior does not exist and obtain a strict positive lower bound in the inter-event time. Simulations are also provided to verify the proposed controller.
- Published
- 2015
37. Architecture and implementation of an affordable differential GPS system
- Author
-
Changbin Yu, Ben E. Nizette, and Andrew Tridgell
- Subjects
Precision Lightweight GPS Receiver ,U-TDOA ,business.industry ,Computer science ,Secure User Plane Location ,Real-time computing ,GPS disciplined oscillator ,Assisted GPS ,Global Positioning System ,Satellite navigation ,Satellite ,Differential GPS ,business ,Simulation - Abstract
In this paper we detail the implementation of a Differential GPS system using only low-cost GPS receivers. The nature of the errors generated by low-cost modules is investigated and contrasted against typical error models of traditional, commercial DGPS systems. It is found that the error profile unique to low-cost GPS modules leads to a system that offers particular advantage in the horizontal plane compared to uncorrected receivers and as such is especially suited for tasks such as mapping and field robotics. A particular incarnation is demonstrated on a mobile robot with experimental results from static and moving tests showing an accuracy in the plane on the order of one metre.
- Published
- 2014
38. Improvement of software defined radio based TDOA source localization
- Author
-
Junming Wei and Changbin Yu
- Subjects
Computer science ,Real-time computing ,FDOA ,Measurement uncertainty ,Limit (mathematics) ,Software-defined radio ,Multilateration ,Algorithm ,Synchronization - Abstract
In this paper, methods to improve a practical Time Difference of Arrival (TDOA) based source localization system are investigated. Firstly, our previous work on the development of a TDOA based source localization system using reconfigurable Software Defined Radios (SDRs) is described in detail. The system can achieve less than 100m error in a coverage of several kilometers. However, the performance of the localization system is limited by many factors. In order to further improve the localization accuracy, a method to improve the resolution of TDOA measurements is proposed; and by investigating the synchronization error and sensor position error through experiments, their error distributions are obtained to reduce measurement error. When the measurement accuracy reaches a limit constrained by current hardware platforms, localization optimization algorithms are implemented. Instead of proving the effectiveness of the algorithms through simulation, all numerical results are obtained from real-world experiments and the results show great enhancement of the localization accuracy.
- Published
- 2014
39. Low-cost differential GPS for field robotics
- Author
-
Andrew Tridgell, Changbin Yu, and Ben E. Nizette
- Subjects
Computer science ,business.industry ,Context (language use) ,Robotics ,Control engineering ,Precise Point Positioning ,Computer Science::Robotics ,Noise ,Assisted GPS ,Global Positioning System ,Robot ,Artificial intelligence ,business ,Differential GPS ,Simulation - Abstract
In this paper we detail the design and implementation of a Differential GPS system that uses only low-cost, light-weight and widely available GPS modules. Such a system is desirable for modern field robotics in order to improve the performance of mapping, navigation, collision avoidance and other common tasks, especially on payload-constrained robots. The particular noise and error modes present in the low-cost system are investigated and algorithms introduced to minimise their effect. The system is demonstrated in the context of field robotics for stationary, ground-based and airbourne agents. It is found that the majority of the error due to the low cost components can be manipulated to be of a form easily mitigated for most robots. The system is shown to provide good results in the horizontal plane in open environments such as those typically used for outdoor experimental robotics while being one to two orders of magnitude cheaper than comparable commercial systems.
- Published
- 2014
40. Rigid formation construction from non-rigid components
- Author
-
Yun Hou and Changbin Yu
- Subjects
Cover (topology) ,Component (thermodynamics) ,Process (computing) ,Rigidity (psychology) ,Edge (geometry) ,Space (mathematics) ,Topology ,Focus (optics) ,ComputingMethodologies_COMPUTERGRAPHICS ,Mathematics - Abstract
This paper discusses the construction of rigid formation from arbitrary non-rigid components in two-dimensional space. Specifically, we focus on developing strategies for the construction sequences under the premise of building minimum number of links between the non-rigid components. Three operations, namely spindle splitting, rigid component shrink and edge floating, are proposed. The scenarios of acquiring a rigid formation from different kinds of non-rigid components are discussed respectively. It is proved that our strategy will guarantee the rigidity of the obtained formation with minimum number of inserted links, and will cover all the possible solutions during the construction process.
- Published
- 2014
41. Autonomous target localization using quadrotor
- Author
-
Yun Hou and Changbin Yu
- Subjects
Computer science ,business.industry ,Control engineering ,Computer vision ,Artificial intelligence ,business - Published
- 2014
42. A time synchronization method of Wireless Sensor Networks based on the simulated annealing algorithm
- Author
-
Fuqiang Wang, Xiaoming Wu, Changbin Yu, Liu Xiangzhi, Yong Pang, and Yifan Hu
- Subjects
Key distribution in wireless sensor networks ,business.industry ,Computer science ,Real-time computing ,Simulated annealing ,Mobile wireless sensor network ,business ,Wireless sensor network ,Computer network ,Time synchronization - Published
- 2014
43. Leaderless synchronization of linear multi-agent systems under directed switching topologies: An invariance approach
- Author
-
Jingbo Wu, Changbin Yu, Frank Allgöwer, and Jiahu Qin
- Subjects
Control theory ,Multi-agent system ,Linear system ,Synchronizing ,Graph (abstract data type) ,Topology (electrical circuits) ,Directed graph ,Network topology ,Synchronization ,Mathematics - Abstract
In this paper, we study the synchronization problem for a class of identical linear, high order systems. The interconnections between the systems are assumed to be time-varying, directed, and the underlying graph is not necessarily connected at any time instant. We show that in this setup, even destabilization may occur through diffusive couplings. In order to overcome this problem, we present a distributed control law, which is able to guarantee positive invariance of energy level-sets, and we investigate its synchronizing properties.
- Published
- 2013
44. Multiagent self-localization using bearing only measurements
- Author
-
Mengbin Ye, Changbin Yu, and Brian D. O. Anderson
- Subjects
Overdetermined system ,symbols.namesake ,Noise ,Fourier transform ,Circular motion ,Basis (linear algebra) ,Control theory ,Fast Fourier transform ,symbols ,System of linear equations ,Algorithm ,Linear equation ,Mathematics - Abstract
This paper proposes a two stage approach to solving a simple network localization problem arising in the control of multi-vehicle formation shapes using bearing-only measurements. While it is impossible for one agent to localize, in its own coordinate basis, a second agent undergoing arbitrary plane motion using bearing-only measurements, this paper shows how to use a combination of a Fourier Transform and an overdetermined linear system of equations to allow two agents undergoing plane circular motion to localize each other. It is postulated that each agent only knows the parameters fully describing its own motion and must determine enough parameters of the other agent to localize it. A Fourier Transform of the measured bearing is used by each agent to obtain an approximate magnitude of the other agent's angular velocity and a two-dimensional search grid is used in an overdetermined linear equation system to solve the localization problem. The paper investigates the effect of noise in bearing measurements on the accuracy of the proposed method, offering some potential methods of decreasing the effect of noise.
- Published
- 2013
45. Local average consensus in distributed measurement of spatial-temporal varying parameters: 1D case
- Author
-
Brian D. O. Anderson, Kai Cai, and Changbin Yu
- Subjects
Consensus algorithm ,Noise ,Distributed algorithm ,Computer science ,Computation ,Data mining ,Constant (mathematics) ,computer.software_genre ,Algorithm ,Wireless sensor network ,computer - Abstract
We study a new variant of consensus problems, termed `local average consensus', in networks of agents. We consider the task of using sensor networks to perform distributed measurement of a parameter which has both spatial (in this paper 1D) and temporal variations. Our idea is to maintain potentially useful local information regarding spatial variation, as contrasted with reaching a single, global consensus, as well as to mitigate the effect of measurement errors. We employ two schemes for computation of local average consensus: exponential weighting and uniform finite window. In both schemes, we design local average consensus algorithms to address first the case where the measured parameter has spatial variation but is constant in time, and then the case where the measured parameter has both spatial and temporal variations. Our designed algorithms are distributed, in that information is exchanged only among neighbors. Moreover, we analyze spatial frequency response and noise propagation associated to the algorithms. The tradeoffs of using local consensus, as compared to standard global consensus, include higher memory requirement and degraded noise performance.
- Published
- 2013
46. An examination of coordination for homogeneous linear agents under arbitrary network topology
- Author
-
Jiahu Qin and Changbin Yu
- Subjects
Lyapunov stability ,Algebraic graph theory ,Theoretical computer science ,Computer science ,Linear system ,Stability (learning theory) ,Graph theory ,Matrix analysis ,Network topology ,Topology ,Synchronization - Abstract
This paper formulates the coordination control for homogeneous linear multi-agent systems under network topology without any structural confinement. This general setting is proved to be able to unify most of the existing models such as (leaderless and leader-following) synchronization/consensus control and containment control, which are usually considered separately using different analyses, within the same framework. More importantly, it can unravel the most general coordination behavior inherent in network of diffusively coupled agents with identical dynamics. Coordination analysis for such a general framework is successfully performed based on the mixed tools from Lyapunov stability theory, matrix analysis, and algebraic graph theory, which is proved being effective in specifying the convergence rate as well.
- Published
- 2013
47. Global leader-following consensus of discrete-time linear multiagent systems subject to actuator saturation
- Author
-
Huijun Gao, Qingling Wang, and Changbin Yu
- Subjects
Computer Science::Multiagent Systems ,Discrete time and continuous time ,Control theory ,Computer science ,Multi-agent system ,Linear system ,Global Leadership ,Graph (abstract data type) ,Directed graph ,Actuator ,Uniform consensus - Abstract
This paper investigates the problem of global leader-following consensus of a discrete-time linear multiagent system subject to actuator saturation. Global leader-following consensus algorithm is developed with proper choice of relative coupling gains. Under the assumption that each agent is marginally stable, it is shown that global consensus of the discrete-time multiagent system can be reached under the general undirected graph provided that its generated graph contains a directed spanning tree. Numerical examples are provided to demonstrate the theoretical results.
- Published
- 2013
48. Performance analysis of TDoA based localization using SDRs
- Author
-
Junming Wei and Changbin Yu
- Subjects
Computer science ,Real-time computing ,FDOA ,Data mining ,Software-defined radio ,Localization system ,Multilateration ,computer.software_genre ,computer - Abstract
This paper presents the implementation of a low cost Time Difference of Arrival (TDoA) based localization system using Software Defined Radios (SDRs) and it shows reasonable accuracy. The sources of localization error are also discussed.
- Published
- 2013
49. An iterative LMI approach to IIR noise transfer function optimization for delta-sigma modulators
- Author
-
Huijun Gao, Changbin Yu, and Xianwei Li
- Subjects
Finite impulse response ,Computer Science::Systems and Control ,Iterative method ,Control theory ,Linear matrix inequality ,Quadratic programming ,Delta-sigma modulation ,Infinite impulse response ,Transfer function ,Noise shaping ,Mathematics - Abstract
This paper is concerned with the issue of noise shaping of delta-sigma modulators. The shaped noise transfer function (NTF) is assumed to have infinite impulse response (IIR), and the optimization objective is minimizing the maximum magnitude of the NTF over the signal frequency band. By virtue of the generalized Kalman-Yakubovich-Popov lemma, the optimization of NTFs is converted into a minimization problem subject to quadratic matrix inequalities, and then an iterative linear matrix inequality algorithm is proposed to solve this alternative minimization problem. The proposed result overcomes the limitation of a latest method that can deal with NTFs with finite impulse response only. A design example is provided to demonstrate that the proposed design method has an advantage over the benchmark one in improving the signal-to-noise ratio.
- Published
- 2013
50. Consensus control of linear multi-agent systems under directed dynamic topology
- Author
-
Jiahu Qin and Changbin Yu
- Subjects
Computer Science::Multiagent Systems ,Exponential growth ,Rate of convergence ,Control theory ,Multi-agent system ,Integrator ,Linear system ,Topology (electrical circuits) ,Extension topology ,Nonnegative matrix ,Topology ,Mathematics - Abstract
This paper aims to extend the nonnegative matrix theory, which is widely employed for multiple integrator agents, to deal with the consensus control of generic linear multi-agent systems (MASs) under directed dynamic topology. It is finally shown that the exponential consensus can be reached under very relaxed conditions, i.e., the directed interaction topology is only required to be repeatedly jointly rooted and the exponentially unstable mode of each individual system is weak enough. Moreover, a least convergence rate and a bound for the unstable mode of the individual agent system, both of which are independent of the switching mode, can be explicitly specified.
- Published
- 2013
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