Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to elim...Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to eliminate the risk of human injuries while working on hazardous tasks, and to improve productivity. Globally, engineers are continuously researching better, simple, and faster cooperative Control algorithms to provide a Control strategy where each agent in the robot formation can communicate effectively and achieve a consensus in their position, orientation and speed.<span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">This paper explores a novel Formation Building Algorithm and its global stability around a configuration vector. A simulation in MATLAB</span><sup><span style="font-size:12px;font-family:Verdana;"><span lang="ZH-CN" style="font-size:12pt;font-family:宋体;">?</span></span></sup><span style="font-family:Verdana;"> was carried out to examine the performance of the Algorithm for two geometric formations and a fixed number of robots. In addition, an obstacle avoidance technique was presented assuming that all robots are equipped with range sensors. In particular, a uniform rounded obstacle is used to analyze</span><span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">the performance of the technique with the use of detailed geometric calculations.</span>展开更多
Target micromotion not only plays an important role in target recognition but also leads to esoteric characteristics in synthetic aperture radar （SAR） imaging. This paper finds out an interesting phenomenon, i.e. th...Target micromotion not only plays an important role in target recognition but also leads to esoteric characteristics in synthetic aperture radar （SAR） imaging. This paper finds out an interesting phenomenon, i.e. the angular extent effect, in micro-motion target images formulated by the polar format algorithm. A micromotion target takes on multiple pairs of paired echoes （PEs） around the true point, and each PE extends for an angle which is exactly equal to the angular extent of the synthetic aperture, regardless of the micromotion frequency. The effect is derived and interpreted by using the characteristics of Bessel functions. Then it is demonstrated by simulation experiments of a target with different micromotion frequencies. The revelation and interpretation of the effect is highly beneficial to micromotion-target SAR image understanding as wel as target recognition.展开更多
Bistatic SAR possesses characteristic of the azimuth space-variant when the velocities of transmitter and receiver are not equal. The geometric model of BiSAR with the parallel trajectories and the nonequal platform v...Bistatic SAR possesses characteristic of the azimuth space-variant when the velocities of transmitter and receiver are not equal. The geometric model of BiSAR with the parallel trajectories and the nonequal platform velocities is presented. Analyzing the motion relationship of transmitter and receiver, the formula of azimuth spacevariant is derived in time domain. Via Taylor polynomial expansions, the azimuth space-variant is factorized by four terms： zero-order, first-order, second-order, and third-order term. And, their impacts on impulse response are illuminated. Some characteristics about azimuth space-variant of airborne BiSAR case are exhibited by simulation experiments, and these simulated results are coincident with the formulae of azimuth space-variant.展开更多
A 3-craft formation configuration is proposed to perform the digital elevation model （DEM） for the distributed spacebome interferometric synthetic aperture radar （InSAR）, and it is optimized by the modified ant co...A 3-craft formation configuration is proposed to perform the digital elevation model （DEM） for the distributed spacebome interferometric synthetic aperture radar （InSAR）, and it is optimized by the modified ant colony algorithm to have the best compatibility with J2 invariant orbits created by differential correction algorithm. The configuration has succeeded in assigning the across-track baseline to vary periodically and with its mean value equal to the optimal baseline determined by the relative height measurement accuracy. The required relationship between crafts＇ magnitudes and phases is formulated for the general case of interferometry measure from non-orthographic and non-lateral view. The J2 invariant configurations created by differential correction algorithm are employed to investigate their compatibility with the required configuration. The colony algorithm is applied to search the optimal configuration holding the near-constant across-track baseline under the J2 perturbation, and the absolute height measurement accuracy is preferable as expected.展开更多
In this paper, we present a novel, dynamic collaboration cloud platform in which a Combinatorial Auction（CA）-based market model enables the platform to run effectively. The platform can facilitate expense reduction ...In this paper, we present a novel, dynamic collaboration cloud platform in which a Combinatorial Auction（CA）-based market model enables the platform to run effectively. The platform can facilitate expense reduction and improve the scalability of the cloud, which is divided into three layers： The user-layer receives requests from end-users, the auction-layer matches the requests with the cloud services provided by the Cloud Service Provider（CSP）, and the CSP-layer forms a coalition to improve serving ability to satisfy complex requirements of users.In fact, the aim of the coalition formation is to find suitable partners for a particular CSP. However, identifying a suitable combination of partners to form the coalition is an NP-hard problem. Hence, we propose approximation algorithms for the coalition formation. The Breadth Traversal Algorithm（BTA） and Revised Ant Colony Algorithm（RACA） are proposed to form a coalition when bidding for a single cloud service in the auction. The experimental results show that RACA outperforms the BTA in bid price. Other experiments were conducted to evaluate the impact of the communication cost on coalition formation and to assess the impact of iteration times for the optimal bidding price. In addition, the performance of the market model was compared to the existing CA-based model in terms of economic efficiency.展开更多
文摘Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to eliminate the risk of human injuries while working on hazardous tasks, and to improve productivity. Globally, engineers are continuously researching better, simple, and faster cooperative Control algorithms to provide a Control strategy where each agent in the robot formation can communicate effectively and achieve a consensus in their position, orientation and speed.<span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">This paper explores a novel Formation Building Algorithm and its global stability around a configuration vector. A simulation in MATLAB</span><sup><span style="font-size:12px;font-family:Verdana;"><span lang="ZH-CN" style="font-size:12pt;font-family:宋体;">?</span></span></sup><span style="font-family:Verdana;"> was carried out to examine the performance of the Algorithm for two geometric formations and a fixed number of robots. In addition, an obstacle avoidance technique was presented assuming that all robots are equipped with range sensors. In particular, a uniform rounded obstacle is used to analyze</span><span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">the performance of the technique with the use of detailed geometric calculations.</span>
基金supported by the National Natural Science Foundationof China(6130214861101182)
文摘Target micromotion not only plays an important role in target recognition but also leads to esoteric characteristics in synthetic aperture radar （SAR） imaging. This paper finds out an interesting phenomenon, i.e. the angular extent effect, in micro-motion target images formulated by the polar format algorithm. A micromotion target takes on multiple pairs of paired echoes （PEs） around the true point, and each PE extends for an angle which is exactly equal to the angular extent of the synthetic aperture, regardless of the micromotion frequency. The effect is derived and interpreted by using the characteristics of Bessel functions. Then it is demonstrated by simulation experiments of a target with different micromotion frequencies. The revelation and interpretation of the effect is highly beneficial to micromotion-target SAR image understanding as wel as target recognition.
基金Sichuan Provincial Youth Science and Technology Foundation (06ZQ026-006)
文摘Bistatic SAR possesses characteristic of the azimuth space-variant when the velocities of transmitter and receiver are not equal. The geometric model of BiSAR with the parallel trajectories and the nonequal platform velocities is presented. Analyzing the motion relationship of transmitter and receiver, the formula of azimuth spacevariant is derived in time domain. Via Taylor polynomial expansions, the azimuth space-variant is factorized by four terms： zero-order, first-order, second-order, and third-order term. And, their impacts on impulse response are illuminated. Some characteristics about azimuth space-variant of airborne BiSAR case are exhibited by simulation experiments, and these simulated results are coincident with the formulae of azimuth space-variant.
基金supported by the National Natural Science Foundation of China (10702003)
文摘A 3-craft formation configuration is proposed to perform the digital elevation model （DEM） for the distributed spacebome interferometric synthetic aperture radar （InSAR）, and it is optimized by the modified ant colony algorithm to have the best compatibility with J2 invariant orbits created by differential correction algorithm. The configuration has succeeded in assigning the across-track baseline to vary periodically and with its mean value equal to the optimal baseline determined by the relative height measurement accuracy. The required relationship between crafts＇ magnitudes and phases is formulated for the general case of interferometry measure from non-orthographic and non-lateral view. The J2 invariant configurations created by differential correction algorithm are employed to investigate their compatibility with the required configuration. The colony algorithm is applied to search the optimal configuration holding the near-constant across-track baseline under the J2 perturbation, and the absolute height measurement accuracy is preferable as expected.
基金supported by the National Natural Science Foundation of China (Nos. 61070133, 61170201, and 61472344)the Collegiate Natural Science Foundation of Jiangsu Province (Grant No. 11KJD520011)+1 种基金Six talent peaks project in Jiangsu Province (No. 2011-DZXX-032)the Scientific Research Foundation of Graduate School of Jiangsu Province (No. CXZZ13 0901)
文摘In this paper, we present a novel, dynamic collaboration cloud platform in which a Combinatorial Auction（CA）-based market model enables the platform to run effectively. The platform can facilitate expense reduction and improve the scalability of the cloud, which is divided into three layers： The user-layer receives requests from end-users, the auction-layer matches the requests with the cloud services provided by the Cloud Service Provider（CSP）, and the CSP-layer forms a coalition to improve serving ability to satisfy complex requirements of users.In fact, the aim of the coalition formation is to find suitable partners for a particular CSP. However, identifying a suitable combination of partners to form the coalition is an NP-hard problem. Hence, we propose approximation algorithms for the coalition formation. The Breadth Traversal Algorithm（BTA） and Revised Ant Colony Algorithm（RACA） are proposed to form a coalition when bidding for a single cloud service in the auction. The experimental results show that RACA outperforms the BTA in bid price. Other experiments were conducted to evaluate the impact of the communication cost on coalition formation and to assess the impact of iteration times for the optimal bidding price. In addition, the performance of the market model was compared to the existing CA-based model in terms of economic efficiency.
