在足球机器人运动过程中,足球机器人处于一个实时对抗的复杂环境中,这就需要机器人有较高的实时运动过程应对能力。需要对每个关键时刻,例如:多机器人抢球过程、单机器人控球过程等,做出合理的应对措施。许多策略的研究都只注重单机器...在足球机器人运动过程中,足球机器人处于一个实时对抗的复杂环境中,这就需要机器人有较高的实时运动过程应对能力。需要对每个关键时刻,例如:多机器人抢球过程、单机器人控球过程等,做出合理的应对措施。许多策略的研究都只注重单机器人控球过程的路径规划,没有考虑到多机器人竞争的过程,导致足球机器人整个运动过程中的一些关键步骤的缺失,丧失了完整性,忽略了实时的对抗性。拟采用新的策略解决上述问题:第一步是将采用WTA(Winner Take All)竞争模型去有效的解决多机器人竞争问题;第二步将采用一种改进的APF(Artificial Potential Field)路径规划法来进行避障。解决了传统APF算法的弊端,提高了效率。通过仿真实验,验证了理论的正确性,也验证了所提理论的科学性和实用性,为以后在其他科学领域的实践奠定了基础。展开更多
The generalized Friedman’s urn model is a popular urn model which is widely used in many disciplines.In particular,it is extensively used in treatment allocation schemes in clinical trials.In this paper,we show that ...The generalized Friedman’s urn model is a popular urn model which is widely used in many disciplines.In particular,it is extensively used in treatment allocation schemes in clinical trials.In this paper,we show that both the urn composition process and the allocation proportion process can be approximated by a multi-dimensional Gaussian process almost surely for a multi-color generalized Friedman’s urn model with both homogeneous and non-homogeneous generating matrices.The Gaussian process is a solution of a stochastic differential equation.This Gaussian approximation is important for the understanding of the behavior of the urn process and is also useful for statistical inferences.As an application,we obtain the asymptotic properties including the asymptotic normality and the law of the iterated logarithm for a multi-color generalized Friedman's urn model as well as the randomized-play-the-winner rule as a special case.展开更多
文摘在足球机器人运动过程中,足球机器人处于一个实时对抗的复杂环境中,这就需要机器人有较高的实时运动过程应对能力。需要对每个关键时刻,例如:多机器人抢球过程、单机器人控球过程等,做出合理的应对措施。许多策略的研究都只注重单机器人控球过程的路径规划,没有考虑到多机器人竞争的过程,导致足球机器人整个运动过程中的一些关键步骤的缺失,丧失了完整性,忽略了实时的对抗性。拟采用新的策略解决上述问题:第一步是将采用WTA(Winner Take All)竞争模型去有效的解决多机器人竞争问题;第二步将采用一种改进的APF(Artificial Potential Field)路径规划法来进行避障。解决了传统APF算法的弊端,提高了效率。通过仿真实验,验证了理论的正确性,也验证了所提理论的科学性和实用性,为以后在其他科学领域的实践奠定了基础。
基金supported by National Natural Science Foundation of China (Grant No. 10771192)National Science Foundation of USA (Grant No. DMS-0349048)
文摘The generalized Friedman’s urn model is a popular urn model which is widely used in many disciplines.In particular,it is extensively used in treatment allocation schemes in clinical trials.In this paper,we show that both the urn composition process and the allocation proportion process can be approximated by a multi-dimensional Gaussian process almost surely for a multi-color generalized Friedman’s urn model with both homogeneous and non-homogeneous generating matrices.The Gaussian process is a solution of a stochastic differential equation.This Gaussian approximation is important for the understanding of the behavior of the urn process and is also useful for statistical inferences.As an application,we obtain the asymptotic properties including the asymptotic normality and the law of the iterated logarithm for a multi-color generalized Friedman's urn model as well as the randomized-play-the-winner rule as a special case.
