This article studies distributed pose(orientation and position)estimation of leader–follower multi-agent systems over𝜅-layer graphs in 2-D plane.Only the leaders have access to their orientations and position...This article studies distributed pose(orientation and position)estimation of leader–follower multi-agent systems over𝜅-layer graphs in 2-D plane.Only the leaders have access to their orientations and positions,while the followers can measure the relative bearings or(angular and linear)velocities in their unknown local coordinate frames.For the orientation estimation,the local relative bearings are used to obtain the relative orientations among the agents,based on which a distributed orientation estimation algorithm is proposed for each follower to estimate its orientation.For the position estimation,the local relative bearings are used to obtain the position constraints among the agents,and a distributed position estimation algorithm is proposed for each follower to estimate its position by solving its position constraints.Both the orientation and position estimation errors converge to zero asymptotically.A simulation example is given to verify the theoretical results.展开更多
In this paper we study a queueing system with state-dependent services and state-dependent vacations, or simply G/M（n）/1/K. Since the service rate is state-dependent, this system includes G/M/c and G/M/c/K queues wi...In this paper we study a queueing system with state-dependent services and state-dependent vacations, or simply G/M（n）/1/K. Since the service rate is state-dependent, this system includes G/M/c and G/M/c/K queues with various types of station vacations as special cases. We provide a recursive algorithm using the supplementary variable technique to numerically compute the stationary queue length distribution of the system. The only input requirement is the Laplace-Stieltjes transform of the interarrival distribution as well as the state-dependent service rate and state-dependent vacation rate. In a subsequent companion paper, we study its dual system M（n）/G/1/K queue with statedependent vacations.展开更多
提出了一种采用酉ESPRIT(Unitary-Estimation ofSignal Parameters via Rotational Invariant Technique,Unitary-ESPRIT)算法对目标的二维波达方向(Direction-of-Arrival,DOA)进行估计,接收信号模型为中心对称的平面阵。与二维MUSIC(Mu...提出了一种采用酉ESPRIT(Unitary-Estimation ofSignal Parameters via Rotational Invariant Technique,Unitary-ESPRIT)算法对目标的二维波达方向(Direction-of-Arrival,DOA)进行估计,接收信号模型为中心对称的平面阵。与二维MUSIC(Multiple Signal Classification)算法、二维求根MUSIC算法、二维ESPRIT算法不同的是,该算法将复矩阵运算转化为实矩阵计算,简化了运算复杂程度,并且目标的DOA估计精度也相应的得到提高,是一种比较高效的DOA估计算法。展开更多
基金supported by Nanyang Technological University,Singapore under the Wallenberg-NTU Presidential Postdoctoral Fellowship and the Natural Science Foundation in Heilongjiang Province,China(YQ2022F003).
文摘This article studies distributed pose(orientation and position)estimation of leader–follower multi-agent systems over𝜅-layer graphs in 2-D plane.Only the leaders have access to their orientations and positions,while the followers can measure the relative bearings or(angular and linear)velocities in their unknown local coordinate frames.For the orientation estimation,the local relative bearings are used to obtain the relative orientations among the agents,based on which a distributed orientation estimation algorithm is proposed for each follower to estimate its orientation.For the position estimation,the local relative bearings are used to obtain the position constraints among the agents,and a distributed position estimation algorithm is proposed for each follower to estimate its position by solving its position constraints.Both the orientation and position estimation errors converge to zero asymptotically.A simulation example is given to verify the theoretical results.
基金supported by National Science Foundation under DMI-0200306supported in part by a grant from National Natural Science Foundation of China under No.70228001.
文摘In this paper we study a queueing system with state-dependent services and state-dependent vacations, or simply G/M（n）/1/K. Since the service rate is state-dependent, this system includes G/M/c and G/M/c/K queues with various types of station vacations as special cases. We provide a recursive algorithm using the supplementary variable technique to numerically compute the stationary queue length distribution of the system. The only input requirement is the Laplace-Stieltjes transform of the interarrival distribution as well as the state-dependent service rate and state-dependent vacation rate. In a subsequent companion paper, we study its dual system M（n）/G/1/K queue with statedependent vacations.
文摘提出了一种采用酉ESPRIT(Unitary-Estimation ofSignal Parameters via Rotational Invariant Technique,Unitary-ESPRIT)算法对目标的二维波达方向(Direction-of-Arrival,DOA)进行估计,接收信号模型为中心对称的平面阵。与二维MUSIC(Multiple Signal Classification)算法、二维求根MUSIC算法、二维ESPRIT算法不同的是,该算法将复矩阵运算转化为实矩阵计算,简化了运算复杂程度,并且目标的DOA估计精度也相应的得到提高,是一种比较高效的DOA估计算法。
