A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source di...A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source disturbances are addressed according to their specific characteristics as follows:(A)an MTN data-driven model,which is used for uncertainty description,is designed accompanied with the mechanism model to represent the unmanned systems;(B)an adaptive MTN filter is used to remove the influence of the internal disturbance;(C)an MTN disturbance observer is constructed to estimate and compensate for the influence of the external disturbance;(D)the Extended Kalman Filter(EKF)algorithm is utilized as the learning mechanism for MTNs.Second,to address the time-delay effect,a recursiveτstep-ahead MTN predictive model is designed utilizing recursive technology,aiming to mitigate the impact of time-delay,and the EKF algorithm is employed as its learning mechanism.Then,the MTN predictive control law is designed based on the quadratic performance index.By implementing the proposed composite controller to unmanned systems,simultaneous feedforward compensation and feedback suppression to the multi-source disturbances are conducted.Finally,the convergence of the MTN and the stability of the closed-loop system are established utilizing the Lyapunov theorem.Two exemplary applications of unmanned systems involving unmanned vehicle and rigid spacecraft are presented to validate the effectiveness of the proposed approach.展开更多
In response to the problems existing in the teaching of unmanned systems courses,such as being confined to traditional teaching models and insufficient focus on practical application,this paper proposes to guide the t...In response to the problems existing in the teaching of unmanned systems courses,such as being confined to traditional teaching models and insufficient focus on practical application,this paper proposes to guide the teaching with the OBE concept,carry out the teaching goal planning of unmanned systems application based on the OBE concept,innovate teaching methods,reconstruct course content,revitalize the teaching process,improve the evaluation model,and stimulate learning motivation to enhance the quality of course teaching and achieve the teaching goal of“knowledge+ability.”This has a certain reference value for the reform practice of unmanned systems courses.展开更多
Dear Editor,This letter investigates the problem of multi-dimension formation tracking(MDFT)for the cross-domain unmanned systems,including several interconnected agents,namely,unmanned aerial vehicles(UAVs)and unmann...Dear Editor,This letter investigates the problem of multi-dimension formation tracking(MDFT)for the cross-domain unmanned systems,including several interconnected agents,namely,unmanned aerial vehicles(UAVs)and unmanned surface vehicles(USVs).We assume that each agent suffers from by the mixed constraints on its velocity,control input and Euler angle.Solving the MDFT problem implies that 1)The virtual state of each USV is determined in the earth coordinate by expanding its 2D work space to the 3D space.展开更多
As advancements in the Internet of Things(IoT)and unmanned technologies continues to progress,the development of unmanned system of systems(USS)has reached unprecedented levels.While prior research has predominantly e...As advancements in the Internet of Things(IoT)and unmanned technologies continues to progress,the development of unmanned system of systems(USS)has reached unprecedented levels.While prior research has predominantly examined temporal variations in USS resilience,spatial changes remain underexplored.However,USS may involve kinetic engagements and frequent spatial changes during mission execution,affecting signal interference in data layer communications.Although time-dependent factors primarily govern mission effectiveness of the USS,spatial factors influence the transmission stability of the data layer.Consequently,assessing spatiotemporal variations in USS performance is critical.To address these challenges,this study introduces a spatiotemporal resilience assessment framework,which evaluates USS resilience across both temporal and spatial dimensions.Furthermore,we propose a spatiotemporal resilience optimization scheme that enhances system adaptability throughout the mission lifecycle,with a particular emphasis on prevention and recovery strategies.Finally,we validate the validity of the proposed concepts and methods with a case study featuring a regular hexagonal deployment of USS.The results show that the spatiotemporal resilience can better reflect the spatial change characteristics of USS,and the proposed optimization strategy improves the prevention spatiotemporal resilience,recovery spatiotemporal resilience,and entire-process spatiotemporal resilience of USS by 0.22%,8.39%,and 11.29%,respectively.展开更多
In the process of performing a task,autonomous unmanned systems face the problem of scene changing,which requires the ability of real-time decision-making under dynamically changing scenes.Therefore,taking the unmanne...In the process of performing a task,autonomous unmanned systems face the problem of scene changing,which requires the ability of real-time decision-making under dynamically changing scenes.Therefore,taking the unmanned system coordinative region control operation as an example,this paper combines knowledge representation with probabilistic decisionmaking and proposes a role-based Bayesian decision model for autonomous unmanned systems that integrates scene cognition and individual preferences.Firstly,according to utility value decision theory,the role-based utility value decision model is proposed to realize task coordination according to the preference of the role that individual is assigned.Then,multi-entity Bayesian network is introduced for situation assessment,by which scenes and their uncertainty related to the operation are semantically described,so that the unmanned systems can conduct situation awareness in a set of scenes with uncertainty.Finally,the effectiveness of the proposed method is verified in a virtual task scenario.This research has important reference value for realizing scene cognition,improving cooperative decision-making ability under dynamic scenes,and achieving swarm level autonomy of unmanned systems.展开更多
Previously, the military establishment has been the primary developer and user of micro technologies associated with unmanned systems. As these technologies become available commercially, a need exists to integrate th...Previously, the military establishment has been the primary developer and user of micro technologies associated with unmanned systems. As these technologies become available commercially, a need exists to integrate the use of the technology into local or regional public safety and homeland security incidents. The purpose of this presentation is to explain several key factors to consider when using micro technologies and unmanned systems in support of public safety and homeland security officials. Real time information is critical to the decision making process for public safety and homeland security officials to make assessments and quickly resolve crisis situations. Unmanned micro-vehicles and micro technologies are well suited to remotely observe, gather essential information, and immediately relay it to incident responders. These technologies can provide extremely important support during responses to hostage situations, hazardous environments, search and rescue, natural disasters, border patrol and many others. The true benefit is having remote resources providing real time support to incident responders. This paper discusses the use of several different types of micro-vehicle platforms in public safety scenarios and their use of associated technologies such as GPS （Global Positioning System） autopilot, communication, and sensor devices.展开更多
With the rapid expansion of unmanned system capabilities,integrating and sharing computing resources has become essential.In addition to enhancing resource utilization efficiency,this architecture may also introduce c...With the rapid expansion of unmanned system capabilities,integrating and sharing computing resources has become essential.In addition to enhancing resource utilization efficiency,this architecture may also introduce conflicts related to resource competition.Therefore,effective resource-sharing configurations are crucial to ensure the Safety of the Intended Functionality(SOTIF).This paper proposes a computing resource configuration analysis and optimization methods for SOTIF.First,four SOTIF requirements are explored using the computing resource-sharing architecture for unmanned systems,encompassing computing time,computing power,energy consumption restrictions,and mutual exclusion and correlation.Secondly,the computing resource configuration model and its SOTIF constraints are formalized based on the graph and set theories.Subsequently,this study divides the design process of computing resource configuration schemes into resource selection and allocation.It introduces a resource selection optimization method based on Forward Checking and a resource allocation optimization method based on NSGA-II.Finally,a typical unmanned driving scenario is considered as an example,and the optimal resource selection and allocation schemes are sequentially determined using the proposed method on the computing platform.展开更多
Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to co...Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to concentrate on iso-lated technical elements and are deficient in addressing the full spectrum of critical technologies and development needs in a systematic and integrative manner.Furthermore,the current suite of tools has not adequately addressed the challenge of bridging the gap between simulation and real-world deployment of algorithms.Therefore,a comprehensive solution must be developed that encompasses the entire IUSS development life-cycle.In this study,we present the RflySim ToolChain,which has been developed with the specific aim of facilitating the rapid development and validation of IUSSs.The RflySim ToolChain employs a model-based design(MBD)approach,integrating a modeling and simulation module,a lower reliable control mo-dule,and an upper swarm decision-making module.This compre-hensive integration encompasses the entire process,from mo-deling and simulation to testing and deployment,thereby enabling users to rapidly construct and validate IUSSs.The prin-cipal advantages of the RflySim ToolChain are as follows:it pro-vides a comprehensive solution that meets the full-stack devel-opment needs of IUSSs;the highly modular architecture and comprehensive software development kit(SDK)facilitate the automation of the entire IUSS development process.Further-more,the high-fidelity model design and reliable architecture solution ensure a seamless transition from simulation to real-world deployment,which is known as the simulation to reality(Sim2Real)process.This paper presents a series of case stu-dies that illustrate the effectiveness of the RflySim ToolChain in supporting the research and application of IUSSs.展开更多
The use of unmanned aerial system(UAS)in congested airspace and/or in the proximity of critical infrastructure poses several challenges as far as safe and secure operations are concerned.The paper provides a detailed ...The use of unmanned aerial system(UAS)in congested airspace and/or in the proximity of critical infrastructure poses several challenges as far as safe and secure operations are concerned.The paper provides a detailed description of the architecture and workflow of a platform for UAS traffic management(UTM),designed to pave the way for increased,improved and safer UAS operations in the civil airspace.In particular,access to low-altitude airspace for UAS operations is managed,while facilitating the implementation of beyond visual line-of-sight(BVLOS)operations,and ensuring a safe and efficient integration of UAS into both controlled and uncontrolled airspace.Detection and management of unidentified or uncooperative UAS’s is also taken care of.To this end,an architecture based on three interacting layers is proposed,with the air traffic control at the highest level,the UAS operator(s)at the bottom,and a UAS service supplier acting as an interface.The platform,with its physical and digital elements,guarantees the effective and efficient interaction among these three layers,including management of contingency scenarios,which require a variation of admissible flight volumes for UAS operations and/or fast trajectory re-planning.The platform,developed within a research project which involved several partners,was tested in a relevant operational scenario at the Grottaglie-Taranto airport in Italy.The operators involved in the tests provided positive feedback on the services provided by the platform and the usability of the interfaces,while also making suggestions for adding new features in future developments.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
Aimed at the doubly near-far problems in a large range suffered by the remote user group and in a small range existing in both nearby and remote user groups during energy harvesting and computation offloading,a resour...Aimed at the doubly near-far problems in a large range suffered by the remote user group and in a small range existing in both nearby and remote user groups during energy harvesting and computation offloading,a resource allocation method for unmanned aerial vehicle(UAV)-assisted and user cooperation non-linear energy harvesting mobile edge computing(MEC)system is proposed.The UAV equipped with an MEC server is introduced to provide energy and computing services for the remote user group to alleviate the doubly near-far problem in a large range suffered by the remote user group.The doubly near-far problem in a small range existing in both nearby and remote user groups is mitigated by user cooperation.The specific user cooperation strategy is that the user near the base station or the UAV is used as a relay to transfer the computing task of the user far from the base station or the UAV to the MEC server for computing.By jointly optimizing users’offloading time,users’transmitting power,and the hovering position of the UAV,the resource allocation problem is modeled as a nonlinear programming problem with the objective of maximizing computation efficiency.The suboptimal solution is obtained by adopting the differential evolution algorithm.Simulation results show that,compared with the resource allocation method based on genetic algorithm and the without user cooperation method,the proposed method has higher computation efficiency.展开更多
A security issue with multi-sensor unmanned aerial vehicle(UAV)cyber physical systems(CPS)from the viewpoint of a false data injection(FDI)attacker is investigated in this paper.The FDI attacker can employ attacks on ...A security issue with multi-sensor unmanned aerial vehicle(UAV)cyber physical systems(CPS)from the viewpoint of a false data injection(FDI)attacker is investigated in this paper.The FDI attacker can employ attacks on feedback and feed-forward channels simultaneously with limited resource.The attacker aims at degrading the UAV CPS's estimation performance to the max while keeping stealthiness characterized by the Kullback-Leibler(K-L)divergence.The attacker is resource limited which can only attack part of sensors,and the attacked sensor as well as specific forms of attack signals at each instant should be considered by the attacker.Also,the sensor selection principle is investigated with respect to time invariant attack covariances.Additionally,the optimal switching attack strategies in regard to time variant attack covariances are modeled as a multi-agent Markov decision process(MDP)with hybrid discrete-continuous action space.Then,the multi-agent MDP is solved by utilizing the deep Multi-agent parameterized Q-networks(MAPQN)method.Ultimately,a quadrotor near hover system is used to validate the effectiveness of the results in the simulation section.展开更多
Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees l...Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.展开更多
Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily life.Power systems are the lifeblood of unmanned systems,and affect the working time and task complexity.Howeve...Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily life.Power systems are the lifeblood of unmanned systems,and affect the working time and task complexity.However,traditional power systems,such as batteries and fuels have a fixed capacity.Therefore,once the power supply is exhausted and cannot be replenished in time,the unmanned systems will stop working.Hence,researchers have increasingly begun paying attention to renewable energy generation technologies.The principles,advantages,and limitations of renewable energy generation technologies are different,and their application effects in different unmanned systems are also uneven.This paper presents a comprehensive study of the application and development status of photovoltaic,thermoelectric,and magnetoelectric generation technologies in four kinds of unmanned systems,including space,aviation,ground,and water,and then summarizes the adaptability and limitations of the three technologies to different systems.Moreover,future development directions are predicted to enhance the reliability of renewable energy generation technologies in unmanned systems.This is the first study to conduct a comprehensive and detailed study of renewable energy generation technologies applied in unmanned systems.The present work is critical for the development of renewable energy generation technologies and power systems for unmanned systems.展开更多
The vibratory roller is a piece of vital construction machinery in the field of road construction.The unmanned vibratory roller efficiently utilizes the automated driving technology in the vehicle engineering field,wh...The vibratory roller is a piece of vital construction machinery in the field of road construction.The unmanned vibratory roller efficiently utilizes the automated driving technology in the vehicle engineering field,which is innovative for the unmanned road construction.This paper develops and implements the autonomous construction system for the unmanned vibratory roller.Not only does the roller have the function of remote-controlled driving,but it also has the capability of autonomous road construction.The overall system design uses the Programmable Logic Controller(PLC)as the kernel controller.It establishes the communication network through multiple Input/Output(I/O)modules,Recommended Standard 232(RS232)serial port,Controller Area Network(CAN)bus,and wireless networks to control the roller vehicle completely.The locating information is obtained through the Global Navigation Satellite System(GNSS)satellite navigation equipment group to support the process of autonomous construction.According to the experimental results,the autonomous construction system can finally enable the roller to perform driving operations and construction independently,which was a significant step forward in engineering application.展开更多
With the expanding applications of multiple unmanned systems in various fields,more and more research attention has been paid to their security.The aim is to enhance the anti-interference ability,ensure their reliabil...With the expanding applications of multiple unmanned systems in various fields,more and more research attention has been paid to their security.The aim is to enhance the anti-interference ability,ensure their reliability and stability,and better serve human society.This article conducts adaptive cooperative secure tracking consensus of networked multiple unmanned systems subjected to false data injection attacks.From a practical perspective,each unmanned system is modeled using high-order unknown nonlinear discrete-time systems.To reduce the communication bandwidth between agents,a quantizer-based codec mechanism is constructed.This quantizer uses a uniform logarithmic quantizer,combining the advantages of both quantizers.Because the transmission information attached to the false data can affect the accuracy of the decoder,a new adaptive law is added to the decoder to overcome this difficulty.A distributed controller is devised in the backstepping framework.Rigorous mathematical analysis shows that our proposed control algorithms ensure that all signals of the resultant systems remain bounded.Finally,simulation examples reveal the practical utility of the theoretical analysis.展开更多
In this study,relevant work on autonomy evaluation(AE)in recent years was comprehensively reviewed and classified from the perspective of task models,and a closed-loop task models based theoretical framework for AE wa...In this study,relevant work on autonomy evaluation(AE)in recent years was comprehensively reviewed and classified from the perspective of task models,and a closed-loop task models based theoretical framework for AE was developed.The main contributions of this study are as follows.1)A taxonomy for AE based on task models was introduced to classify current theories,methods and standards.2)The limitations of the current autonomous evaluation methods were addressed to provide a theoretical framework for quantitative evaluation based on task models,and evaluation metrics for each stage were proposed based on the AE theoretical framework.3)Qualitative analyses of the superiority of the proposed AE framework based on the closed-loop task models were conducted.This study attempts to provide a reference for researchers and engineers in the autonomous unmanned systems field and inspire future development of AE.展开更多
Small-scale rotorcraft unmanned robotic systems(SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relati...Small-scale rotorcraft unmanned robotic systems(SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years(2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem,trends, and challenges are described from three aspects. Conclusions of the paper are presented,and the future of SRURSs is discussed to enable further research interests.展开更多
The tilt rotor unmanned aerial vehicle（TRUAV） exhibits special application value due to its unique rotor structure. However, varying dynamics and aerodynamic interference caused by tiltable rotors are great technica...The tilt rotor unmanned aerial vehicle（TRUAV） exhibits special application value due to its unique rotor structure. However, varying dynamics and aerodynamic interference caused by tiltable rotors are great technical challenges and key issues for TRUAV＇s high-powered flight controls, which have attracted the attention of many researchers. This paper outlines the concept of TRUAV and some typical TRUAV platforms while focusing on control techniques. TRUAV structural features, dynamics modeling, and flight control methods are discussed, and major challenges and corresponding developmental tendencies associated with TRUAV flight control are summarized.展开更多
With the development of Unmanned Aerial Vehicle(UAV) system autonomy, network communication technology and group intelligence theory, mission execution in the form of a UAV swarm will be an important realization of fu...With the development of Unmanned Aerial Vehicle(UAV) system autonomy, network communication technology and group intelligence theory, mission execution in the form of a UAV swarm will be an important realization of future applications. Traditional single-UAV mission reliability modeling methods have been unable to meet the requirements of UAV swarm mission reliability modeling. Therefore, the UAV swarm mission reliability modeling and evaluation method is proposed. First, aimed at the interdependence among the multiple layers, a multi-layer network model of a UAV swarm is established. At the same time, based on the system having the following characteristics—using a mission chain to complete the mission and applying the connectivity of the mission network—the mission network model of a UAV swarm is established. Second, vulnerability and connectivity are selected as two indicators to reflect the reliability of the mission, and aimed at random attack and deliberate attack, vulnerability and connectivity evaluation methods are proposed. Finally, the validity and accuracy of the constructed model are verified through simulations,and the model and selected indicators can meet the reliability requirements of the UAV swarm mission. In this way, this study provides quantitative reference for UAV-swarm-related decisionmaking work and supports the development of UAV-swarm-related work.展开更多
基金co-supported by the National Key R&D Program of China(No.2023YFB4704400)the Zhejiang Provincial Natural Science Foundation of China(No.LQ24F030012)the National Natural Science Foundation of China General Project(No.62373033)。
文摘A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source disturbances are addressed according to their specific characteristics as follows:(A)an MTN data-driven model,which is used for uncertainty description,is designed accompanied with the mechanism model to represent the unmanned systems;(B)an adaptive MTN filter is used to remove the influence of the internal disturbance;(C)an MTN disturbance observer is constructed to estimate and compensate for the influence of the external disturbance;(D)the Extended Kalman Filter(EKF)algorithm is utilized as the learning mechanism for MTNs.Second,to address the time-delay effect,a recursiveτstep-ahead MTN predictive model is designed utilizing recursive technology,aiming to mitigate the impact of time-delay,and the EKF algorithm is employed as its learning mechanism.Then,the MTN predictive control law is designed based on the quadratic performance index.By implementing the proposed composite controller to unmanned systems,simultaneous feedforward compensation and feedback suppression to the multi-source disturbances are conducted.Finally,the convergence of the MTN and the stability of the closed-loop system are established utilizing the Lyapunov theorem.Two exemplary applications of unmanned systems involving unmanned vehicle and rigid spacecraft are presented to validate the effectiveness of the proposed approach.
文摘In response to the problems existing in the teaching of unmanned systems courses,such as being confined to traditional teaching models and insufficient focus on practical application,this paper proposes to guide the teaching with the OBE concept,carry out the teaching goal planning of unmanned systems application based on the OBE concept,innovate teaching methods,reconstruct course content,revitalize the teaching process,improve the evaluation model,and stimulate learning motivation to enhance the quality of course teaching and achieve the teaching goal of“knowledge+ability.”This has a certain reference value for the reform practice of unmanned systems courses.
基金supported in part by the National Natural Science Foundation of China(62073301,62373162,62473349,U24A20268,62233007)the Shenzhen Science and Technology Program(JCYJ20240813114007010).
文摘Dear Editor,This letter investigates the problem of multi-dimension formation tracking(MDFT)for the cross-domain unmanned systems,including several interconnected agents,namely,unmanned aerial vehicles(UAVs)and unmanned surface vehicles(USVs).We assume that each agent suffers from by the mixed constraints on its velocity,control input and Euler angle.Solving the MDFT problem implies that 1)The virtual state of each USV is determined in the earth coordinate by expanding its 2D work space to the 3D space.
基金support for this research from the Natural Science Foundation of Henan Province(252300421005).
文摘As advancements in the Internet of Things(IoT)and unmanned technologies continues to progress,the development of unmanned system of systems(USS)has reached unprecedented levels.While prior research has predominantly examined temporal variations in USS resilience,spatial changes remain underexplored.However,USS may involve kinetic engagements and frequent spatial changes during mission execution,affecting signal interference in data layer communications.Although time-dependent factors primarily govern mission effectiveness of the USS,spatial factors influence the transmission stability of the data layer.Consequently,assessing spatiotemporal variations in USS performance is critical.To address these challenges,this study introduces a spatiotemporal resilience assessment framework,which evaluates USS resilience across both temporal and spatial dimensions.Furthermore,we propose a spatiotemporal resilience optimization scheme that enhances system adaptability throughout the mission lifecycle,with a particular emphasis on prevention and recovery strategies.Finally,we validate the validity of the proposed concepts and methods with a case study featuring a regular hexagonal deployment of USS.The results show that the spatiotemporal resilience can better reflect the spatial change characteristics of USS,and the proposed optimization strategy improves the prevention spatiotemporal resilience,recovery spatiotemporal resilience,and entire-process spatiotemporal resilience of USS by 0.22%,8.39%,and 11.29%,respectively.
基金the Military Science Postgraduate Project of PLA(JY2020B006).
文摘In the process of performing a task,autonomous unmanned systems face the problem of scene changing,which requires the ability of real-time decision-making under dynamically changing scenes.Therefore,taking the unmanned system coordinative region control operation as an example,this paper combines knowledge representation with probabilistic decisionmaking and proposes a role-based Bayesian decision model for autonomous unmanned systems that integrates scene cognition and individual preferences.Firstly,according to utility value decision theory,the role-based utility value decision model is proposed to realize task coordination according to the preference of the role that individual is assigned.Then,multi-entity Bayesian network is introduced for situation assessment,by which scenes and their uncertainty related to the operation are semantically described,so that the unmanned systems can conduct situation awareness in a set of scenes with uncertainty.Finally,the effectiveness of the proposed method is verified in a virtual task scenario.This research has important reference value for realizing scene cognition,improving cooperative decision-making ability under dynamic scenes,and achieving swarm level autonomy of unmanned systems.
文摘Previously, the military establishment has been the primary developer and user of micro technologies associated with unmanned systems. As these technologies become available commercially, a need exists to integrate the use of the technology into local or regional public safety and homeland security incidents. The purpose of this presentation is to explain several key factors to consider when using micro technologies and unmanned systems in support of public safety and homeland security officials. Real time information is critical to the decision making process for public safety and homeland security officials to make assessments and quickly resolve crisis situations. Unmanned micro-vehicles and micro technologies are well suited to remotely observe, gather essential information, and immediately relay it to incident responders. These technologies can provide extremely important support during responses to hostage situations, hazardous environments, search and rescue, natural disasters, border patrol and many others. The true benefit is having remote resources providing real time support to incident responders. This paper discusses the use of several different types of micro-vehicle platforms in public safety scenarios and their use of associated technologies such as GPS （Global Positioning System） autopilot, communication, and sensor devices.
基金supported by the National Natural Science Foundation of China(Grant Nos.72301296,72471192,72101270 and U2341213).
文摘With the rapid expansion of unmanned system capabilities,integrating and sharing computing resources has become essential.In addition to enhancing resource utilization efficiency,this architecture may also introduce conflicts related to resource competition.Therefore,effective resource-sharing configurations are crucial to ensure the Safety of the Intended Functionality(SOTIF).This paper proposes a computing resource configuration analysis and optimization methods for SOTIF.First,four SOTIF requirements are explored using the computing resource-sharing architecture for unmanned systems,encompassing computing time,computing power,energy consumption restrictions,and mutual exclusion and correlation.Secondly,the computing resource configuration model and its SOTIF constraints are formalized based on the graph and set theories.Subsequently,this study divides the design process of computing resource configuration schemes into resource selection and allocation.It introduces a resource selection optimization method based on Forward Checking and a resource allocation optimization method based on NSGA-II.Finally,a typical unmanned driving scenario is considered as an example,and the optimal resource selection and allocation schemes are sequentially determined using the proposed method on the computing platform.
基金supported by the National Natural Science Foundation of China(62406345).
文摘Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to concentrate on iso-lated technical elements and are deficient in addressing the full spectrum of critical technologies and development needs in a systematic and integrative manner.Furthermore,the current suite of tools has not adequately addressed the challenge of bridging the gap between simulation and real-world deployment of algorithms.Therefore,a comprehensive solution must be developed that encompasses the entire IUSS development life-cycle.In this study,we present the RflySim ToolChain,which has been developed with the specific aim of facilitating the rapid development and validation of IUSSs.The RflySim ToolChain employs a model-based design(MBD)approach,integrating a modeling and simulation module,a lower reliable control mo-dule,and an upper swarm decision-making module.This compre-hensive integration encompasses the entire process,from mo-deling and simulation to testing and deployment,thereby enabling users to rapidly construct and validate IUSSs.The prin-cipal advantages of the RflySim ToolChain are as follows:it pro-vides a comprehensive solution that meets the full-stack devel-opment needs of IUSSs;the highly modular architecture and comprehensive software development kit(SDK)facilitate the automation of the entire IUSS development process.Further-more,the high-fidelity model design and reliable architecture solution ensure a seamless transition from simulation to real-world deployment,which is known as the simulation to reality(Sim2Real)process.This paper presents a series of case stu-dies that illustrate the effectiveness of the RflySim ToolChain in supporting the research and application of IUSSs.
基金supported by the European Union and Italian Ministry of University and Research through the call PON Research and Innovation 2014-2020,Axis Ⅱ,Action 2,project AcrOSS(Environment for Safe Operations of Remotely Piloted Aircraft),project number ARS01_00702-CUP:F36C18000210005.
文摘The use of unmanned aerial system(UAS)in congested airspace and/or in the proximity of critical infrastructure poses several challenges as far as safe and secure operations are concerned.The paper provides a detailed description of the architecture and workflow of a platform for UAS traffic management(UTM),designed to pave the way for increased,improved and safer UAS operations in the civil airspace.In particular,access to low-altitude airspace for UAS operations is managed,while facilitating the implementation of beyond visual line-of-sight(BVLOS)operations,and ensuring a safe and efficient integration of UAS into both controlled and uncontrolled airspace.Detection and management of unidentified or uncooperative UAS’s is also taken care of.To this end,an architecture based on three interacting layers is proposed,with the air traffic control at the highest level,the UAS operator(s)at the bottom,and a UAS service supplier acting as an interface.The platform,with its physical and digital elements,guarantees the effective and efficient interaction among these three layers,including management of contingency scenarios,which require a variation of admissible flight volumes for UAS operations and/or fast trajectory re-planning.The platform,developed within a research project which involved several partners,was tested in a relevant operational scenario at the Grottaglie-Taranto airport in Italy.The operators involved in the tests provided positive feedback on the services provided by the platform and the usability of the interfaces,while also making suggestions for adding new features in future developments.
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 National Natural Science Foundation of China(No.61871133)the Natural Science Foundation of Fujian Province(No.2021J01587)。
文摘Aimed at the doubly near-far problems in a large range suffered by the remote user group and in a small range existing in both nearby and remote user groups during energy harvesting and computation offloading,a resource allocation method for unmanned aerial vehicle(UAV)-assisted and user cooperation non-linear energy harvesting mobile edge computing(MEC)system is proposed.The UAV equipped with an MEC server is introduced to provide energy and computing services for the remote user group to alleviate the doubly near-far problem in a large range suffered by the remote user group.The doubly near-far problem in a small range existing in both nearby and remote user groups is mitigated by user cooperation.The specific user cooperation strategy is that the user near the base station or the UAV is used as a relay to transfer the computing task of the user far from the base station or the UAV to the MEC server for computing.By jointly optimizing users’offloading time,users’transmitting power,and the hovering position of the UAV,the resource allocation problem is modeled as a nonlinear programming problem with the objective of maximizing computation efficiency.The suboptimal solution is obtained by adopting the differential evolution algorithm.Simulation results show that,compared with the resource allocation method based on genetic algorithm and the without user cooperation method,the proposed method has higher computation efficiency.
文摘A security issue with multi-sensor unmanned aerial vehicle(UAV)cyber physical systems(CPS)from the viewpoint of a false data injection(FDI)attacker is investigated in this paper.The FDI attacker can employ attacks on feedback and feed-forward channels simultaneously with limited resource.The attacker aims at degrading the UAV CPS's estimation performance to the max while keeping stealthiness characterized by the Kullback-Leibler(K-L)divergence.The attacker is resource limited which can only attack part of sensors,and the attacked sensor as well as specific forms of attack signals at each instant should be considered by the attacker.Also,the sensor selection principle is investigated with respect to time invariant attack covariances.Additionally,the optimal switching attack strategies in regard to time variant attack covariances are modeled as a multi-agent Markov decision process(MDP)with hybrid discrete-continuous action space.Then,the multi-agent MDP is solved by utilizing the deep Multi-agent parameterized Q-networks(MAPQN)method.Ultimately,a quadrotor near hover system is used to validate the effectiveness of the results in the simulation section.
基金supported in part by 14th Five Year National Key R&D Program Project(Project Number:2023YFB3211001)the National Natural Science Foundation of China(62273339,U24A201397).
文摘Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.
基金supported by the Key Program of National Natural Science Foundation of China(Grant No.61933002)the National Science Fund for Distinguished Young Scholars(Grant No.62025301)。
文摘Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily life.Power systems are the lifeblood of unmanned systems,and affect the working time and task complexity.However,traditional power systems,such as batteries and fuels have a fixed capacity.Therefore,once the power supply is exhausted and cannot be replenished in time,the unmanned systems will stop working.Hence,researchers have increasingly begun paying attention to renewable energy generation technologies.The principles,advantages,and limitations of renewable energy generation technologies are different,and their application effects in different unmanned systems are also uneven.This paper presents a comprehensive study of the application and development status of photovoltaic,thermoelectric,and magnetoelectric generation technologies in four kinds of unmanned systems,including space,aviation,ground,and water,and then summarizes the adaptability and limitations of the three technologies to different systems.Moreover,future development directions are predicted to enhance the reliability of renewable energy generation technologies in unmanned systems.This is the first study to conduct a comprehensive and detailed study of renewable energy generation technologies applied in unmanned systems.The present work is critical for the development of renewable energy generation technologies and power systems for unmanned systems.
基金This work was supported by the Natural Science Foundation of Jiangsu Province(BK20170681,BK20180701)the National Natural Science Foundation of China(51675281).
文摘The vibratory roller is a piece of vital construction machinery in the field of road construction.The unmanned vibratory roller efficiently utilizes the automated driving technology in the vehicle engineering field,which is innovative for the unmanned road construction.This paper develops and implements the autonomous construction system for the unmanned vibratory roller.Not only does the roller have the function of remote-controlled driving,but it also has the capability of autonomous road construction.The overall system design uses the Programmable Logic Controller(PLC)as the kernel controller.It establishes the communication network through multiple Input/Output(I/O)modules,Recommended Standard 232(RS232)serial port,Controller Area Network(CAN)bus,and wireless networks to control the roller vehicle completely.The locating information is obtained through the Global Navigation Satellite System(GNSS)satellite navigation equipment group to support the process of autonomous construction.According to the experimental results,the autonomous construction system can finally enable the roller to perform driving operations and construction independently,which was a significant step forward in engineering application.
基金supported in part by the National Natural Science Foundation of China under Grant U20B2073,Grant 62103047Beijing Institute of Technology Research Fund Program for Young ScholarsYoung Elite Scientists Sponsorship Program by BAST(Grant No.BYESS2023365)
文摘With the expanding applications of multiple unmanned systems in various fields,more and more research attention has been paid to their security.The aim is to enhance the anti-interference ability,ensure their reliability and stability,and better serve human society.This article conducts adaptive cooperative secure tracking consensus of networked multiple unmanned systems subjected to false data injection attacks.From a practical perspective,each unmanned system is modeled using high-order unknown nonlinear discrete-time systems.To reduce the communication bandwidth between agents,a quantizer-based codec mechanism is constructed.This quantizer uses a uniform logarithmic quantizer,combining the advantages of both quantizers.Because the transmission information attached to the false data can affect the accuracy of the decoder,a new adaptive law is added to the decoder to overcome this difficulty.A distributed controller is devised in the backstepping framework.Rigorous mathematical analysis shows that our proposed control algorithms ensure that all signals of the resultant systems remain bounded.Finally,simulation examples reveal the practical utility of the theoretical analysis.
基金supported in part by the Major Project for New Generation of AI,China(No.2018AAA0100400)in part by the Natural Science Foundation of China(No.62072457).
文摘In this study,relevant work on autonomy evaluation(AE)in recent years was comprehensively reviewed and classified from the perspective of task models,and a closed-loop task models based theoretical framework for AE was developed.The main contributions of this study are as follows.1)A taxonomy for AE based on task models was introduced to classify current theories,methods and standards.2)The limitations of the current autonomous evaluation methods were addressed to provide a theoretical framework for quantitative evaluation based on task models,and evaluation metrics for each stage were proposed based on the AE theoretical framework.3)Qualitative analyses of the superiority of the proposed AE framework based on the closed-loop task models were conducted.This study attempts to provide a reference for researchers and engineers in the autonomous unmanned systems field and inspire future development of AE.
基金supported by the National Natural Science Foundation of China (Nos. 91748201 and 51505014)
文摘Small-scale rotorcraft unmanned robotic systems(SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years(2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem,trends, and challenges are described from three aspects. Conclusions of the paper are presented,and the future of SRURSs is discussed to enable further research interests.
基金co-supported by the National Natural Science Foundation of China (Nos. 61503369 and 61433016)
文摘The tilt rotor unmanned aerial vehicle（TRUAV） exhibits special application value due to its unique rotor structure. However, varying dynamics and aerodynamic interference caused by tiltable rotors are great technical challenges and key issues for TRUAV＇s high-powered flight controls, which have attracted the attention of many researchers. This paper outlines the concept of TRUAV and some typical TRUAV platforms while focusing on control techniques. TRUAV structural features, dynamics modeling, and flight control methods are discussed, and major challenges and corresponding developmental tendencies associated with TRUAV flight control are summarized.
基金co-supported by the Fundamental Research Funds for the Central Universities,China (No. YWF-19-BJJ-340)Field Foundation of China (No.JZX7Y20190242012001)。
文摘With the development of Unmanned Aerial Vehicle(UAV) system autonomy, network communication technology and group intelligence theory, mission execution in the form of a UAV swarm will be an important realization of future applications. Traditional single-UAV mission reliability modeling methods have been unable to meet the requirements of UAV swarm mission reliability modeling. Therefore, the UAV swarm mission reliability modeling and evaluation method is proposed. First, aimed at the interdependence among the multiple layers, a multi-layer network model of a UAV swarm is established. At the same time, based on the system having the following characteristics—using a mission chain to complete the mission and applying the connectivity of the mission network—the mission network model of a UAV swarm is established. Second, vulnerability and connectivity are selected as two indicators to reflect the reliability of the mission, and aimed at random attack and deliberate attack, vulnerability and connectivity evaluation methods are proposed. Finally, the validity and accuracy of the constructed model are verified through simulations,and the model and selected indicators can meet the reliability requirements of the UAV swarm mission. In this way, this study provides quantitative reference for UAV-swarm-related decisionmaking work and supports the development of UAV-swarm-related work.
