Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion...Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.展开更多
Unmanned aerial vehicles(UAVs)are widely utilized in area coverage tasks due to their flexibility and efficiency in geo-graphic information acquisition.However,complex boundary conditions in actual water area maps oft...Unmanned aerial vehicles(UAVs)are widely utilized in area coverage tasks due to their flexibility and efficiency in geo-graphic information acquisition.However,complex boundary conditions in actual water area maps often reduce coverage efficiency.To address this issue,this paper proposes a map preprocessing algorithm that linearizes boundary lines and processes concave areas into concave polygons,followed by gridding the map.Additionally,a collaborative area coverage method for UAV swarms is introduced based on region partitioning,which considers the comprehensive cost of energy consumption and time.An improved Hungarian algorithm is utilized for region partitioning,and a Dubins-A*-based plow-ing area full coverage path planning method is proposed to achieve path smoothing and collaborative coverage of each partition.Two sets of simulation experiments are conducted.The first experiment verifies the effectiveness of the map preprocessing algorithm,and the second compares the proposed collaborative area coverage algorithm with other methods,demonstrating its performance advantages.展开更多
In response to the challenges faced by unmanned swarms in mountain obstacle-breaching missions within complex terrains,such as poor task-resource coupling,lengthy solution generation times,and poor inter-platform coll...In response to the challenges faced by unmanned swarms in mountain obstacle-breaching missions within complex terrains,such as poor task-resource coupling,lengthy solution generation times,and poor inter-platform collaboration,an unmanned swarm scheduling strategy tailored is proposed for mountain obstacle-breaching missions.Initially,by formalizing the descriptions of obstacle breaching operations,the swarm,and obstacle targets,an optimization model is constructed with the objectives of expected global benefit,timeliness,and task completion degree.A meta-task decomposition and reassembly strategy is then introduced to more precisely match the capabilities of unmanned platforms with task requirements.Additionally,a meta-task decomposition optimization model and a meta-task allocation operator are incorporated to achieve efficient allocation of swarm resources and collaborative scheduling.Simulation results demonstrate that the model can accurately generate reasonable and feasible obstacle breaching execution plans for unmanned swarms based on specific task requirements and environmental conditions.Moreover,compared to conventional strategies,the proposed strategy enhances task completion degree and expected returns while reducing the execution time of the plans.展开更多
Feature selection serves as a critical preprocessing step inmachine learning,focusing on identifying and preserving the most relevant features to improve the efficiency and performance of classification algorithms.Par...Feature selection serves as a critical preprocessing step inmachine learning,focusing on identifying and preserving the most relevant features to improve the efficiency and performance of classification algorithms.Particle Swarm Optimization has demonstrated significant potential in addressing feature selection challenges.However,there are inherent limitations in Particle Swarm Optimization,such as the delicate balance between exploration and exploitation,susceptibility to local optima,and suboptimal convergence rates,hinder its performance.To tackle these issues,this study introduces a novel Leveraged Opposition-Based Learning method within Fitness Landscape Particle Swarm Optimization,tailored for wrapper-based feature selection.The proposed approach integrates:(1)a fitness-landscape adaptive strategy to dynamically balance exploration and exploitation,(2)the lever principle within Opposition-Based Learning to improve search efficiency,and(3)a Local Selection and Re-optimization mechanism combined with random perturbation to expedite convergence and enhance the quality of the optimal feature subset.The effectiveness of is rigorously evaluated on 24 benchmark datasets and compared against 13 advancedmetaheuristic algorithms.Experimental results demonstrate that the proposed method outperforms the compared algorithms in classification accuracy on over half of the datasets,whilst also significantly reducing the number of selected features.These findings demonstrate its effectiveness and robustness in feature selection tasks.展开更多
Cascading failures pose a serious threat to the survivability of underwater unmanned swarm networks(UUSNs),significantly limiting their service ability in collaborative missions such as military reconnaissance and env...Cascading failures pose a serious threat to the survivability of underwater unmanned swarm networks(UUSNs),significantly limiting their service ability in collaborative missions such as military reconnaissance and environmental monitoring.Existing failure models primarily focus on power grids and traffic systems,and don't address the unique challenges of weak-communication UUSNs.In UUSNs,cascading failure present a complex and dynamic process driven by the coupling of unstable acoustic channels,passive node drift,adversarial attacks,and network heterogeneity.To address these challenges,a directed weighted graph model of UUSNs is first developed,in which node positions are updated according to ocean-current-driven drift and link weights reflect the probability of successful acoustic transmission.Building on this UUSNs graph model,a cascading failure model is proposed that integrates a normal-failure-recovery state-cycle mechanism,multiple attack strategies,and routingbased load redistribution.Finally,under a five-level connectivity UUSNs scheme,simulations are conducted to analyze how dynamic topology,network load,node recovery delay,and attack modes jointly affect network survivability.The main findings are:(1)moderate node drift can improve survivability by activating weak links;(2)based-energy routing(BER)outperform based-depth routing(BDR)in harsh conditions;(3)node self-recovery time is critical to network survivability;(4)traditional degree-based critical node metrics are inadequate for weak-communication UUSNs.These results provide a theoretical foundation for designing robust survivability mechanisms in weak-communication UUSNs.展开更多
Multi-label feature selection(MFS)is a crucial dimensionality reduction technique aimed at identifying informative features associated with multiple labels.However,traditional centralized methods face significant chal...Multi-label feature selection(MFS)is a crucial dimensionality reduction technique aimed at identifying informative features associated with multiple labels.However,traditional centralized methods face significant challenges in privacy-sensitive and distributed settings,often neglecting label dependencies and suffering from low computational efficiency.To address these issues,we introduce a novel framework,Fed-MFSDHBCPSO—federated MFS via dual-layer hybrid breeding cooperative particle swarm optimization algorithm with manifold and sparsity regularization(DHBCPSO-MSR).Leveraging the federated learning paradigm,Fed-MFSDHBCPSO allows clients to perform local feature selection(FS)using DHBCPSO-MSR.Locally selected feature subsets are encrypted with differential privacy(DP)and transmitted to a central server,where they are securely aggregated and refined through secure multi-party computation(SMPC)until global convergence is achieved.Within each client,DHBCPSO-MSR employs a dual-layer FS strategy.The inner layer constructs sample and label similarity graphs,generates Laplacian matrices to capture the manifold structure between samples and labels,and applies L2,1-norm regularization to sparsify the feature subset,yielding an optimized feature weight matrix.The outer layer uses a hybrid breeding cooperative particle swarm optimization algorithm to further refine the feature weight matrix and identify the optimal feature subset.The updated weight matrix is then fed back to the inner layer for further optimization.Comprehensive experiments on multiple real-world multi-label datasets demonstrate that Fed-MFSDHBCPSO consistently outperforms both centralized and federated baseline methods across several key evaluation metrics.展开更多
Droplet-based microfluidics is a transformative technology with applications across diverse scientific and industrial domains.However,predicting the droplet size generated by individual microchannels before experiment...Droplet-based microfluidics is a transformative technology with applications across diverse scientific and industrial domains.However,predicting the droplet size generated by individual microchannels before experiments or simulations remains a significant challenge.In this study,we focus on a double T-junction microfluidic geometry and employ a hybrid modeling approach that combines machine learning with metaheuristic optimization to address this issue.Specifically,particle swarm optimization(PSO)is used to optimize the hyperparameters of a decision tree(DT)model,and its performance is compared with that of a DT optimized through grid search(GS).The hybrid models are developed to estimate the droplet diameter based on four parameters:the main width,side width,thickness,and flow rate ratio.The dataset of more than 300 cases,generated by a three-dimensional numerical model of the double T-junction,is used for training and testing.Multiple evaluation metrics confirm the predictive accuracy of the models.The results demonstrate that the proposed DT-PSO model achieves higher accuracy,with a coefficient of determination of 0.902 on the test data,while simultaneously reducing prediction time.This methodology holds the potential to minimize design iterations and accelerate the integration of microfluidic technology into the biological sciences.展开更多
For mission-oriented unmanned aerial vehicle(UAV)swarms,mission capability assessment provides an important reference in the design and development process,and is a precondition for mission success.For this multi-crit...For mission-oriented unmanned aerial vehicle(UAV)swarms,mission capability assessment provides an important reference in the design and development process,and is a precondition for mission success.For this multi-criteria decisionmaking(MCDM)problem,the current literature lacks a way to unambiguously present criteria and the popular fuzzy analytic network process(ANP)approaches neglect the hesitancy of subjective judgments.To fill these research gaps,an MCDM method based on unified architecture framework(UAF)and interval-valued spherical fuzzy ANP(IVSF-ANP)is proposed in this paper.Firstly,selected viewpoints in UAF are extended to construct criteria models with standardized representation.Secondly,interval-valued spherical fuzzy sets are introduced to ANP to weight interdependent criteria,handling fuzziness and hesitancy in pairwise comparisons.A method of adjusting weights of experts based on their decision similarities is also included in this process to reduce ambiguity brought by multiple experts.Next,performance characteristics are non-linearly transformed regarding to expectations to get final results.This proposition is applied to assess the mission capability of UAV swarms to search and strike surface vessels.Comparative analysis shows that the proposed method is valid and reasonable.展开更多
Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at...Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment,this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints.Considering the fixed-wing UAV swarm flight problem in complex environment,a virtual tube model based on generator curve is established.The tube keeping,centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary.On this basis,a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace.This cooperative control method eliminates the need for respective pre-planned trajectories,reduces communication requirements,and achieves a high level of intelligence.Simulation results show that the proposed behaviorbased UAV swarm cooperative control method is able to make the fixed-wing UAV swarm,which is faster and unable to hover,fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes,and the spacing between the UAVs is larger than the minimum safe distance during the flight.展开更多
Feature selection(FS)is essential in machine learning(ML)and data mapping by its ability to preprocess high-dimensional data.By selecting a subset of relevant features,feature selection cuts down on the dimension of t...Feature selection(FS)is essential in machine learning(ML)and data mapping by its ability to preprocess high-dimensional data.By selecting a subset of relevant features,feature selection cuts down on the dimension of the data.It excludes irrelevant or surplus features,thus boosting the performance and efficiency of the model.Particle Swarm Optimization(PSO)boasts a streamlined algorithmic framework and exhibits rapid convergence traits.Compared with other algorithms,it incurs reduced computational expenses when tackling high-dimensional datasets.However,PSO faces challenges like inadequate convergence precision.Therefore,regarding FS problems,this paper presents a binary version enhanced PSO based on the Support Vector Machines(SVM)classifier.First,the Sand Cat Swarm Optimization(SCSO)is added to enhance the global search capability of PSO and improve the accuracy of the solution.Secondly,the Latin hypercube sampling strategy initializes populations more uniformly and helps to increase population diversity.The last is the roundup search strategy introducing the grey wolf hierarchy idea to help improve convergence speed.To verify the capability of Self-adaptive Cooperative Particle Swarm Optimization(SCPSO),the CEC2020 test suite and CEC2022 test suite are selected for experiments and applied to three engineering problems.Compared with the standard PSO algorithm,SCPSO converges faster,and the convergence accuracy is significantly improved.Moreover,SCPSO’s comprehensive performance far exceeds that of other algorithms.Six datasets from the University of California,Irvine(UCI)database were selected to evaluate SCPSO’s effectiveness in solving feature selection problems.The results indicate that SCPSO has significant potential for addressing these problems.展开更多
This paper considers the swarm vigilance problem for multi-agent systems(MAS),where multiple agents are deployed within a rectangular region for perception-based vigilance.There are two main challenges,namely the task...This paper considers the swarm vigilance problem for multi-agent systems(MAS),where multiple agents are deployed within a rectangular region for perception-based vigilance.There are two main challenges,namely the task allocation for vigilance roles and the coverage planning of the perception ranges.Firstly,vigilance behavioral patterns and processes in animal populations within natural habitats are investigated.Inspired by these biological vigilance behaviors,an efficient vigilance task allocation model for MAS is proposed.Secondly,the subsequent optimization of task layouts can achieve efficient surveillance coverage with fewer agents,minimizing resource consumption.Thirdly,an improved particle swarm optimization(IPSO)algorithm is proposed,which incorporates fitness-driven adaptive inertia weight dynamics.According to simulation analysis and comparative studies,optimal parameter configurations for genetic algorithm(GA)and IPSO are determined.Finally,the results indicate the proposed IPSO's superior performance to both GA and standard particle swarm optimization(PSO)in vigilance task allocation optimization,with satisfying advantages in computational efficiency and solution quality.展开更多
Complex autonomous dynamical systems require sophisticated optimization methods that encompass environment awareness,path planning,and decision-making.swarm intelligence algorithms,inspired by natural phenomena such a...Complex autonomous dynamical systems require sophisticated optimization methods that encompass environment awareness,path planning,and decision-making.swarm intelligence algorithms,inspired by natural phenomena such as bird flocks and fish schools,have undergone significant advancements over recent decades.This paper provides a comprehensive review of particle swarm optimization(PSO)in the context of autonomous systems.We specifically examine the application of PSO to multi-agent dynamical systems,reviewing how PSO variants are employed to tackle diverse optimization challenges across various platforms,including ground vehicles,autonomous underwater vehicles,and unmanned aerial vehicles.Additionally,we delve into the use of PSO within swarm robotics and multi-agent systems.The paper concludes with an outline of potential future research directions,particularly focusing on the application of PSO to the multi-agent rendezvous problem in autonomous systems.展开更多
This paper investigates the configuration design associated with boundary-constrained swarm flying.An analytic swarm configuration is identified to ensure the passive safety between each pair of spacecraft in the radi...This paper investigates the configuration design associated with boundary-constrained swarm flying.An analytic swarm configuration is identified to ensure the passive safety between each pair of spacecraft in the radial-cross-track plane.For the first time,this work derives the explicit configurable spacecraft amount to clarify the configuration's accommodation capacity while considering the maximum inter-spacecraft separation constraint.For larger-scale design problem that involves hundreds of spacecraft,this paper proposes an optimization framework that integrates a Relative Orbit Element(ROE)affine transformation operation and successional convex optimization.The framework establishes a multi-subcluster swarm structure,allowing decoupling the maintenance issues of each subcluster.Compared with previous design methods,it ensures that the computational cost for constraints verification only scales linearly with the swarm size,while also preserving the configuration optimization capacities.Numerical simulations demonstrate that the proposed analytic configuration strictly meets the design constraints.It is also shown that the proposed framework reduces the handled constraint amount by two orders compared with direct optimization,while achieving a remarkable swarm safety enhancement based on the existing analytic configuration.展开更多
The exploration of unmanned aerial vehicle(UAV)swarm systems represents a focal point in the research of multiagent systems,with the investigation of their fission-fusion behavior holding significant theoretical and p...The exploration of unmanned aerial vehicle(UAV)swarm systems represents a focal point in the research of multiagent systems,with the investigation of their fission-fusion behavior holding significant theoretical and practical value.This review systematically examines the methods for fission-fusion of UAV swarms from the perspective of multi-agent systems,encompassing the composition of UAV swarm systems and fission-fusion conditions,information interaction mechanisms,and existing fission-fusion approaches.Firstly,considering the constituent units of UAV swarms and the conditions influencing fission-fusion,this paper categorizes and introduces the UAV swarm systems.It further examines the effects and limitations of fission-fusion methods across various categories and conditions.Secondly,a comprehensive analysis of the prevalent information interaction mechanisms within UAV swarms is conducted from the perspective of information interaction structures.The advantages and limitations of various mechanisms in the context of fission-fusion behaviors are summarized and synthesized.Thirdly,this paper consolidates the existing implementation research findings related to the fission-fusion behavior of UAV swarms,identifies unresolved issues in fission-fusion research,and discusses potential solutions.Finally,the paper concludes with a comprehensive summary and systematically outlines future research opportunities.展开更多
This article investigates the combination of magnetic data from the MSS-1 and Swarm satellites for improved investigations of Earth’s magnetic field and Geospace.The study highlights the complementary nature of polar...This article investigates the combination of magnetic data from the MSS-1 and Swarm satellites for improved investigations of Earth’s magnetic field and Geospace.The study highlights the complementary nature of polar-orbiting(Swarm)and low-inclination(MSS-1)satellites in geomagnetic modelling and monitoring large-scale magnetospheric contributions.Data from close encounters between MSS-1 and Swarm(intersatellite distance<100 km)confirm the excellent data quality of the two satellite missions(<1 nT median difference in scalar intensity F)and allow for data calibration and validation and investigations of in-situ ionospheric currents.The reason for a small but consistent difference(F as measured by MSS-1 is 0.5 to 1.0 nT larger than that measured by Swarm)is unknown.Combining MSS-1’s low-inclination data with Swarm’s near-polar observations significantly enhances the spatial-temporal resolution of Earth’s magnetic field models,allowing for new opportunities for studying both rapid core field variations at low latitudes and the local-time dependence of large-scale magnetospheric current systems.A joint analysis of magnetic data from six satellites during the May 2024 geomagnetic storm reveals a clear dawn-dusk asymmetry,with equatorial magnetic disturbances during dusk being approximately 150 nT more negative than during dawn.展开更多
Measurements from geomagnetic satellites continue to underpin advances in geomagnetic field models that describe Earth's internally generated magnetic field.Here,we present a new field model,MSCM,that integrates v...Measurements from geomagnetic satellites continue to underpin advances in geomagnetic field models that describe Earth's internally generated magnetic field.Here,we present a new field model,MSCM,that integrates vector and scalar data from the Swarm,China Seismo-Electromagnetic Satellite(CSES),and Macao Science Satellite-1(MSS-1)missions.The model spans from 2014.0 to 2024.5,incorporating the core,lithospheric,and magnetospheric fields,and it shows characteristics similar to other published models based on different data.For the first time,we demonstrate that it is possible to successfully construct a geomagnetic field model that incorporates CSES vector data,albeit one in which the radial and azimuthal CSES vector components are Huber downweighted.We further show that data from the MSS-1 can be integrated within an explicitly smoothed,fully time-dependent model description.Using the MSCM,we identify new behavior of the South Atlantic Anomaly,the broad region of low magnetic field intensity over the southern Atlantic.This prominent feature appears split into a western part and an eastern part,each with its own intensity minimum.Since 2015,the principal western minimum has undergone only modest intensity decreases of 290 nT and westward motion of 20 km per year,whereas the recently formed eastern minimum has shown a 2–3 times greater intensity drop of 730 nT with no apparent east-west motion.展开更多
Accurate modeling of Earth's ionospheric F-region currents is essential for refining geomagnetic field models and understanding magnetosphere-ionosphere coupling.In this study,we develop averaged models to charact...Accurate modeling of Earth's ionospheric F-region currents is essential for refining geomagnetic field models and understanding magnetosphere-ionosphere coupling.In this study,we develop averaged models to characterize F-region currents using magnetic data from the MSS-1(Macao Science Satellite-1) and Swarm satellite missions.Our approach employs a toroidal field representation,utilizing spherical harmonics to capture spatial variations and Fourier series to represent temporal dynamics.Two models,Model-A and Model-B,derived from distinct datasets,are constructed to represent current patterns at altitudes of 450 km and 512 km,respectively.Our models successfully capture the primary spatial structures and seasonal variations of polar field-aligned currents.Additionally,they accurately reproduce the localized inter-hemispheric field-aligned currents observed in mid and low latitudes during solstices,particularly between 14:00 and 16:00 magnetic local times.These findings enhance our understanding of ionospheric F-region currents and contribute to more precise geomagnetic field modeling.展开更多
文摘Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.
基金National Natural Science Foundation of China(62402020,62303022)Beijing Nova Program(20240484720)+1 种基金Project of Cultivation for Young Top-Notch Talents of Beijing Municipal Institutions(BPHR202203043)BTBU Digital Business Platform Project byBMEC.
文摘Unmanned aerial vehicles(UAVs)are widely utilized in area coverage tasks due to their flexibility and efficiency in geo-graphic information acquisition.However,complex boundary conditions in actual water area maps often reduce coverage efficiency.To address this issue,this paper proposes a map preprocessing algorithm that linearizes boundary lines and processes concave areas into concave polygons,followed by gridding the map.Additionally,a collaborative area coverage method for UAV swarms is introduced based on region partitioning,which considers the comprehensive cost of energy consumption and time.An improved Hungarian algorithm is utilized for region partitioning,and a Dubins-A*-based plow-ing area full coverage path planning method is proposed to achieve path smoothing and collaborative coverage of each partition.Two sets of simulation experiments are conducted.The first experiment verifies the effectiveness of the map preprocessing algorithm,and the second compares the proposed collaborative area coverage algorithm with other methods,demonstrating its performance advantages.
基金supported by the National Natural Science Foundation of China(61374186)。
文摘In response to the challenges faced by unmanned swarms in mountain obstacle-breaching missions within complex terrains,such as poor task-resource coupling,lengthy solution generation times,and poor inter-platform collaboration,an unmanned swarm scheduling strategy tailored is proposed for mountain obstacle-breaching missions.Initially,by formalizing the descriptions of obstacle breaching operations,the swarm,and obstacle targets,an optimization model is constructed with the objectives of expected global benefit,timeliness,and task completion degree.A meta-task decomposition and reassembly strategy is then introduced to more precisely match the capabilities of unmanned platforms with task requirements.Additionally,a meta-task decomposition optimization model and a meta-task allocation operator are incorporated to achieve efficient allocation of swarm resources and collaborative scheduling.Simulation results demonstrate that the model can accurately generate reasonable and feasible obstacle breaching execution plans for unmanned swarms based on specific task requirements and environmental conditions.Moreover,compared to conventional strategies,the proposed strategy enhances task completion degree and expected returns while reducing the execution time of the plans.
基金supported by National Natural Science Foundation of China(62106092)Natural Science Foundation of Fujian Province(2024J01822,2024J01820,2022J01916)Natural Science Foundation of Zhangzhou City(ZZ2024J28).
文摘Feature selection serves as a critical preprocessing step inmachine learning,focusing on identifying and preserving the most relevant features to improve the efficiency and performance of classification algorithms.Particle Swarm Optimization has demonstrated significant potential in addressing feature selection challenges.However,there are inherent limitations in Particle Swarm Optimization,such as the delicate balance between exploration and exploitation,susceptibility to local optima,and suboptimal convergence rates,hinder its performance.To tackle these issues,this study introduces a novel Leveraged Opposition-Based Learning method within Fitness Landscape Particle Swarm Optimization,tailored for wrapper-based feature selection.The proposed approach integrates:(1)a fitness-landscape adaptive strategy to dynamically balance exploration and exploitation,(2)the lever principle within Opposition-Based Learning to improve search efficiency,and(3)a Local Selection and Re-optimization mechanism combined with random perturbation to expedite convergence and enhance the quality of the optimal feature subset.The effectiveness of is rigorously evaluated on 24 benchmark datasets and compared against 13 advancedmetaheuristic algorithms.Experimental results demonstrate that the proposed method outperforms the compared algorithms in classification accuracy on over half of the datasets,whilst also significantly reducing the number of selected features.These findings demonstrate its effectiveness and robustness in feature selection tasks.
基金supported in part by the National Natural Science Foundation of China(Key Program)under Grant No.62031021。
文摘Cascading failures pose a serious threat to the survivability of underwater unmanned swarm networks(UUSNs),significantly limiting their service ability in collaborative missions such as military reconnaissance and environmental monitoring.Existing failure models primarily focus on power grids and traffic systems,and don't address the unique challenges of weak-communication UUSNs.In UUSNs,cascading failure present a complex and dynamic process driven by the coupling of unstable acoustic channels,passive node drift,adversarial attacks,and network heterogeneity.To address these challenges,a directed weighted graph model of UUSNs is first developed,in which node positions are updated according to ocean-current-driven drift and link weights reflect the probability of successful acoustic transmission.Building on this UUSNs graph model,a cascading failure model is proposed that integrates a normal-failure-recovery state-cycle mechanism,multiple attack strategies,and routingbased load redistribution.Finally,under a five-level connectivity UUSNs scheme,simulations are conducted to analyze how dynamic topology,network load,node recovery delay,and attack modes jointly affect network survivability.The main findings are:(1)moderate node drift can improve survivability by activating weak links;(2)based-energy routing(BER)outperform based-depth routing(BDR)in harsh conditions;(3)node self-recovery time is critical to network survivability;(4)traditional degree-based critical node metrics are inadequate for weak-communication UUSNs.These results provide a theoretical foundation for designing robust survivability mechanisms in weak-communication UUSNs.
文摘Multi-label feature selection(MFS)is a crucial dimensionality reduction technique aimed at identifying informative features associated with multiple labels.However,traditional centralized methods face significant challenges in privacy-sensitive and distributed settings,often neglecting label dependencies and suffering from low computational efficiency.To address these issues,we introduce a novel framework,Fed-MFSDHBCPSO—federated MFS via dual-layer hybrid breeding cooperative particle swarm optimization algorithm with manifold and sparsity regularization(DHBCPSO-MSR).Leveraging the federated learning paradigm,Fed-MFSDHBCPSO allows clients to perform local feature selection(FS)using DHBCPSO-MSR.Locally selected feature subsets are encrypted with differential privacy(DP)and transmitted to a central server,where they are securely aggregated and refined through secure multi-party computation(SMPC)until global convergence is achieved.Within each client,DHBCPSO-MSR employs a dual-layer FS strategy.The inner layer constructs sample and label similarity graphs,generates Laplacian matrices to capture the manifold structure between samples and labels,and applies L2,1-norm regularization to sparsify the feature subset,yielding an optimized feature weight matrix.The outer layer uses a hybrid breeding cooperative particle swarm optimization algorithm to further refine the feature weight matrix and identify the optimal feature subset.The updated weight matrix is then fed back to the inner layer for further optimization.Comprehensive experiments on multiple real-world multi-label datasets demonstrate that Fed-MFSDHBCPSO consistently outperforms both centralized and federated baseline methods across several key evaluation metrics.
文摘Droplet-based microfluidics is a transformative technology with applications across diverse scientific and industrial domains.However,predicting the droplet size generated by individual microchannels before experiments or simulations remains a significant challenge.In this study,we focus on a double T-junction microfluidic geometry and employ a hybrid modeling approach that combines machine learning with metaheuristic optimization to address this issue.Specifically,particle swarm optimization(PSO)is used to optimize the hyperparameters of a decision tree(DT)model,and its performance is compared with that of a DT optimized through grid search(GS).The hybrid models are developed to estimate the droplet diameter based on four parameters:the main width,side width,thickness,and flow rate ratio.The dataset of more than 300 cases,generated by a three-dimensional numerical model of the double T-junction,is used for training and testing.Multiple evaluation metrics confirm the predictive accuracy of the models.The results demonstrate that the proposed DT-PSO model achieves higher accuracy,with a coefficient of determination of 0.902 on the test data,while simultaneously reducing prediction time.This methodology holds the potential to minimize design iterations and accelerate the integration of microfluidic technology into the biological sciences.
基金supported by the National Natural Science Foundation of China(62073267,61903305)the Fundamental Research Funds for the Central Universities(HXGJXM202214)。
文摘For mission-oriented unmanned aerial vehicle(UAV)swarms,mission capability assessment provides an important reference in the design and development process,and is a precondition for mission success.For this multi-criteria decisionmaking(MCDM)problem,the current literature lacks a way to unambiguously present criteria and the popular fuzzy analytic network process(ANP)approaches neglect the hesitancy of subjective judgments.To fill these research gaps,an MCDM method based on unified architecture framework(UAF)and interval-valued spherical fuzzy ANP(IVSF-ANP)is proposed in this paper.Firstly,selected viewpoints in UAF are extended to construct criteria models with standardized representation.Secondly,interval-valued spherical fuzzy sets are introduced to ANP to weight interdependent criteria,handling fuzziness and hesitancy in pairwise comparisons.A method of adjusting weights of experts based on their decision similarities is also included in this process to reduce ambiguity brought by multiple experts.Next,performance characteristics are non-linearly transformed regarding to expectations to get final results.This proposition is applied to assess the mission capability of UAV swarms to search and strike surface vessels.Comparative analysis shows that the proposed method is valid and reasonable.
基金co-supported by the National Natural Science Foundation of China(No.61903350)the Ministry of Education industry-university-research innovation project,China(No.2021ZYA02002)the Beijing Institute of Technology Research Fund Program for Young Scholars,China(No.3010011182130)。
文摘Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment,this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints.Considering the fixed-wing UAV swarm flight problem in complex environment,a virtual tube model based on generator curve is established.The tube keeping,centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary.On this basis,a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace.This cooperative control method eliminates the need for respective pre-planned trajectories,reduces communication requirements,and achieves a high level of intelligence.Simulation results show that the proposed behaviorbased UAV swarm cooperative control method is able to make the fixed-wing UAV swarm,which is faster and unable to hover,fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes,and the spacing between the UAVs is larger than the minimum safe distance during the flight.
基金supported by the Fundamental Research Funds for the Central Universities of China(No.300102122105)the Natural Science Basic Research Plan in Shaanxi Province of China(2023-JC-YB-023).
文摘Feature selection(FS)is essential in machine learning(ML)and data mapping by its ability to preprocess high-dimensional data.By selecting a subset of relevant features,feature selection cuts down on the dimension of the data.It excludes irrelevant or surplus features,thus boosting the performance and efficiency of the model.Particle Swarm Optimization(PSO)boasts a streamlined algorithmic framework and exhibits rapid convergence traits.Compared with other algorithms,it incurs reduced computational expenses when tackling high-dimensional datasets.However,PSO faces challenges like inadequate convergence precision.Therefore,regarding FS problems,this paper presents a binary version enhanced PSO based on the Support Vector Machines(SVM)classifier.First,the Sand Cat Swarm Optimization(SCSO)is added to enhance the global search capability of PSO and improve the accuracy of the solution.Secondly,the Latin hypercube sampling strategy initializes populations more uniformly and helps to increase population diversity.The last is the roundup search strategy introducing the grey wolf hierarchy idea to help improve convergence speed.To verify the capability of Self-adaptive Cooperative Particle Swarm Optimization(SCPSO),the CEC2020 test suite and CEC2022 test suite are selected for experiments and applied to three engineering problems.Compared with the standard PSO algorithm,SCPSO converges faster,and the convergence accuracy is significantly improved.Moreover,SCPSO’s comprehensive performance far exceeds that of other algorithms.Six datasets from the University of California,Irvine(UCI)database were selected to evaluate SCPSO’s effectiveness in solving feature selection problems.The results indicate that SCPSO has significant potential for addressing these problems.
基金The National Natural Science Foundation of China(62203015,62233001,62273351)The Beijing Natural Science Foundation(4242038)。
文摘This paper considers the swarm vigilance problem for multi-agent systems(MAS),where multiple agents are deployed within a rectangular region for perception-based vigilance.There are two main challenges,namely the task allocation for vigilance roles and the coverage planning of the perception ranges.Firstly,vigilance behavioral patterns and processes in animal populations within natural habitats are investigated.Inspired by these biological vigilance behaviors,an efficient vigilance task allocation model for MAS is proposed.Secondly,the subsequent optimization of task layouts can achieve efficient surveillance coverage with fewer agents,minimizing resource consumption.Thirdly,an improved particle swarm optimization(IPSO)algorithm is proposed,which incorporates fitness-driven adaptive inertia weight dynamics.According to simulation analysis and comparative studies,optimal parameter configurations for genetic algorithm(GA)and IPSO are determined.Finally,the results indicate the proposed IPSO's superior performance to both GA and standard particle swarm optimization(PSO)in vigilance task allocation optimization,with satisfying advantages in computational efficiency and solution quality.
基金supported in part by the NASA South Carolina Space Grant Consortium(5121383-UG-SC-006).Recommended by Associate Editor Xin Luo.
文摘Complex autonomous dynamical systems require sophisticated optimization methods that encompass environment awareness,path planning,and decision-making.swarm intelligence algorithms,inspired by natural phenomena such as bird flocks and fish schools,have undergone significant advancements over recent decades.This paper provides a comprehensive review of particle swarm optimization(PSO)in the context of autonomous systems.We specifically examine the application of PSO to multi-agent dynamical systems,reviewing how PSO variants are employed to tackle diverse optimization challenges across various platforms,including ground vehicles,autonomous underwater vehicles,and unmanned aerial vehicles.Additionally,we delve into the use of PSO within swarm robotics and multi-agent systems.The paper concludes with an outline of potential future research directions,particularly focusing on the application of PSO to the multi-agent rendezvous problem in autonomous systems.
基金co-supported by the National Natural Science Foundation of China(Nos.52272408,U21B2008)the Guangdong Basic and Applied Basic Research Foundation,China(No.2023B1515120018)。
文摘This paper investigates the configuration design associated with boundary-constrained swarm flying.An analytic swarm configuration is identified to ensure the passive safety between each pair of spacecraft in the radial-cross-track plane.For the first time,this work derives the explicit configurable spacecraft amount to clarify the configuration's accommodation capacity while considering the maximum inter-spacecraft separation constraint.For larger-scale design problem that involves hundreds of spacecraft,this paper proposes an optimization framework that integrates a Relative Orbit Element(ROE)affine transformation operation and successional convex optimization.The framework establishes a multi-subcluster swarm structure,allowing decoupling the maintenance issues of each subcluster.Compared with previous design methods,it ensures that the computational cost for constraints verification only scales linearly with the swarm size,while also preserving the configuration optimization capacities.Numerical simulations demonstrate that the proposed analytic configuration strictly meets the design constraints.It is also shown that the proposed framework reduces the handled constraint amount by two orders compared with direct optimization,while achieving a remarkable swarm safety enhancement based on the existing analytic configuration.
基金supported by the National Natural Science Foundation of China(U20B2042).
文摘The exploration of unmanned aerial vehicle(UAV)swarm systems represents a focal point in the research of multiagent systems,with the investigation of their fission-fusion behavior holding significant theoretical and practical value.This review systematically examines the methods for fission-fusion of UAV swarms from the perspective of multi-agent systems,encompassing the composition of UAV swarm systems and fission-fusion conditions,information interaction mechanisms,and existing fission-fusion approaches.Firstly,considering the constituent units of UAV swarms and the conditions influencing fission-fusion,this paper categorizes and introduces the UAV swarm systems.It further examines the effects and limitations of fission-fusion methods across various categories and conditions.Secondly,a comprehensive analysis of the prevalent information interaction mechanisms within UAV swarms is conducted from the perspective of information interaction structures.The advantages and limitations of various mechanisms in the context of fission-fusion behaviors are summarized and synthesized.Thirdly,this paper consolidates the existing implementation research findings related to the fission-fusion behavior of UAV swarms,identifies unresolved issues in fission-fusion research,and discusses potential solutions.Finally,the paper concludes with a comprehensive summary and systematically outlines future research opportunities.
基金the China National Space Administration (CNSA) and the Macao Foundation for operating the MSS-1satelliteThis work has been carried out as part of ESA’s Swarm DISC activities funded by ESA contract no.4000109587.
文摘This article investigates the combination of magnetic data from the MSS-1 and Swarm satellites for improved investigations of Earth’s magnetic field and Geospace.The study highlights the complementary nature of polar-orbiting(Swarm)and low-inclination(MSS-1)satellites in geomagnetic modelling and monitoring large-scale magnetospheric contributions.Data from close encounters between MSS-1 and Swarm(intersatellite distance<100 km)confirm the excellent data quality of the two satellite missions(<1 nT median difference in scalar intensity F)and allow for data calibration and validation and investigations of in-situ ionospheric currents.The reason for a small but consistent difference(F as measured by MSS-1 is 0.5 to 1.0 nT larger than that measured by Swarm)is unknown.Combining MSS-1’s low-inclination data with Swarm’s near-polar observations significantly enhances the spatial-temporal resolution of Earth’s magnetic field models,allowing for new opportunities for studying both rapid core field variations at low latitudes and the local-time dependence of large-scale magnetospheric current systems.A joint analysis of magnetic data from six satellites during the May 2024 geomagnetic storm reveals a clear dawn-dusk asymmetry,with equatorial magnetic disturbances during dusk being approximately 150 nT more negative than during dawn.
基金supported by the National Natural Science Foundation of China(Grant No.42274003)PWL was supported by Swarm DISC(Swarm Data,Innovation,and Science Cluster)+2 种基金funded by the European Space Agency(ESAContract No.4000109587)HFR acknowledges funding from the UK Natural Environment Research Council(Grant No.NE/V010867/1)。
文摘Measurements from geomagnetic satellites continue to underpin advances in geomagnetic field models that describe Earth's internally generated magnetic field.Here,we present a new field model,MSCM,that integrates vector and scalar data from the Swarm,China Seismo-Electromagnetic Satellite(CSES),and Macao Science Satellite-1(MSS-1)missions.The model spans from 2014.0 to 2024.5,incorporating the core,lithospheric,and magnetospheric fields,and it shows characteristics similar to other published models based on different data.For the first time,we demonstrate that it is possible to successfully construct a geomagnetic field model that incorporates CSES vector data,albeit one in which the radial and azimuthal CSES vector components are Huber downweighted.We further show that data from the MSS-1 can be integrated within an explicitly smoothed,fully time-dependent model description.Using the MSCM,we identify new behavior of the South Atlantic Anomaly,the broad region of low magnetic field intensity over the southern Atlantic.This prominent feature appears split into a western part and an eastern part,each with its own intensity minimum.Since 2015,the principal western minimum has undergone only modest intensity decreases of 290 nT and westward motion of 20 km per year,whereas the recently formed eastern minimum has shown a 2–3 times greater intensity drop of 730 nT with no apparent east-west motion.
基金supported by the National Natural Science Foundation of China (42250101)the Macao Foundation. The computation made use of the high-performance computing resources at the center of the MSS data processing and analysis。
文摘Accurate modeling of Earth's ionospheric F-region currents is essential for refining geomagnetic field models and understanding magnetosphere-ionosphere coupling.In this study,we develop averaged models to characterize F-region currents using magnetic data from the MSS-1(Macao Science Satellite-1) and Swarm satellite missions.Our approach employs a toroidal field representation,utilizing spherical harmonics to capture spatial variations and Fourier series to represent temporal dynamics.Two models,Model-A and Model-B,derived from distinct datasets,are constructed to represent current patterns at altitudes of 450 km and 512 km,respectively.Our models successfully capture the primary spatial structures and seasonal variations of polar field-aligned currents.Additionally,they accurately reproduce the localized inter-hemispheric field-aligned currents observed in mid and low latitudes during solstices,particularly between 14:00 and 16:00 magnetic local times.These findings enhance our understanding of ionospheric F-region currents and contribute to more precise geomagnetic field modeling.
