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Dynamic value iteration networks for the planning of rapidly changing UAV swarms Research Articles
Wei Li, Bowei Yang, Guanghua Song, Xiaohong Jiang,li2ui2@zju.edu.cn,boweiy@zju.edu.cn,ghsong@zju.edu.cn,jiangxh@zju.edu.cn
Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 5, Pages 615-766 doi: 10.1631/FITEE.1900712
Keywords: 动态值迭代网络;场景式Q学习;无人机自组网;NSGA-II;路径规划
Motion planning of a quadrotor robot game using a simulation-based projected policy iteration method Regular Papers
Li-dong ZHANG, Ban WANG, Zhi-xiang LIU, You-min ZHANG, Jian-liang AI
Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 4, Pages 525-537 doi: 10.1631/FITEE.1800571
Making rational decisions for sequential decision problems in complex environments has been challenging researchers in various fields for decades. Such problems consist of state transition dynamics, stochastic uncertainties, long-term utilities, and other factors that assemble high barriers including the curse of dimensionality. Recently, the state-of-the-art algorithms in reinforcement learning studies have been developed, providing a strong potential to efficiently break the barriers and make it possible to deal with complex and practical decision problems with decent performance. We propose a formulation of a velocity varying one-on-one quadrotor robot game problem in the threedimensional space and an approximate dynamic programming approach using a projected policy iteration method for learning the utilities of game states and improving motion policies. In addition, a simulation-based iterative scheme is employed to overcome the curse of dimensionality. Simulation results demonstrate that the proposed decision strategy can generate effective and efficient motion policies that can contend with the opponent quadrotor and gather advantaged status during the game. Flight experiments, which are conducted in the Networked Autonomous Vehicles (NAV) Lab at the Concordia University, have further validated the performance of the proposed decision strategy in the real-time environment.
Keywords: Reinforcement learning Approximate dynamic programming Decision making Motion planning Unmanned aerial vehicle
Die Hu, Shaoshi Yang, Min Gong, Zhiyong Feng, Xuejun Zhu
Engineering 2022, Volume 19, Issue 12, Pages 217-227 doi: 10.1016/j.eng.2021.10.022
As a special type of mobile ad hoc network (MANET), the flying ad hoc network (FANET) has the potential to enable a variety of emerging applications in both civilian wireless communications (e.g., 5G and 6G) and the defense industry. The routing protocol plays a pivotal role in FANET. However, when designing the routing protocol for FANET, it is conventionally assumed that the aerial nodes move randomly. This is clearly inappropriate for a mission-oriented FANET (MO-FANET), in which the aerial nodes typically move toward a given destination from given departure point(s), possibly along a roughly deterministic flight path while maintaining a well-established formation, in order to carry out certain missions. In this paper, a novel cyber-physical routing protocol exploiting the particular mobility pattern of an MO-FANET is proposed based on cross-disciplinary integration, which makes full use of the mission-determined trajectory dynamics to construct the time sequence of rejoining and separating, as well as the adjacency matrix for each node, as prior information. Compared with the existing representative routing protocols used in FANETs, our protocol achieves a higher packet-delivery ratio (PDR) at the cost of even lower overhead and lower average end-to-end latency, while maintaining a reasonably moderate and stable network jitter, as demonstrated by extensive ns-3-based simulations assuming realistic configurations in an MO-FANET.
Keywords: Cyber-physical system Flying ad hoc network (FANET) Routing protocol Trajectory dynamics Unmanned aerial vehicle (UAV)
UAV search-and-rescue planning using an adaptive memetic algorithm Research Articles
Libin Hong, Yue Wang, Yichen Du, Xin Chen, Yujun Zheng,yujun.zheng@computer.org
Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 11, Pages 1477-1491 doi: 10.1631/FITEE.2000632
Keywords: 文化基因算法;自适应;无人机;搜救
Multi-objective optimization of a hybrid distributed energy system using NSGA-II algorithm
Hongbo REN, Yinlong LU, Qiong WU, Xiu YANG, Aolin ZHOU
Frontiers in Energy 2018, Volume 12, Issue 4, Pages 518-528 doi: 10.1007/s11708-018-0594-7
Keywords: multi-objective optimization hybrid distributed energy system non-dominated sorting generic algorithm II
Wan-ying Ruan, Hai-bin Duan,wyruan@buaa.edu.cn,hbduan@buaa.edu.cn
Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 5, Pages 649-808 doi: 10.1631/FITEE.2000066
Keywords: 无人机;避障;鸽群优化;多目标社会学习鸽群优化
The Development and Research Synopsis of Large UAV in China
Zhao Xu
Strategic Study of CAE 2003, Volume 5, Issue 1, Pages 38-41
This paper systematically reviews the history and background of large UAV * s development in China, which includes the first developed simulated target drone, all kinds of substantial pilotless drone and the developing unmanned attack air vehicle. The main technical difficulties and key technologies applied are introduced in detail. The developing journey of all kinds of unmanned air vehicle is formulised. In the end, the importance and development of UCAV in China are also previewed, analysed and plotted.
Keywords: target drone unmanned air vehicle (UAV) unmanned combat air vehicle (UCAV) development application
Secure connectivity analysis in unmanned aerial vehicle networks None
Xin YUAN, Zhi-yong FENG, Wen-jun XU, Zhi-qing WEI, Ren-ping LIU
Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 3, Pages 409-422 doi: 10.1631/FITEE.1700032
Keywords: Unmanned aerial vehicle networks (UAVNs) Trust model Secure connectivity Doppler shift
Anewhierarchical software architecture towards safety-critical aspects of a drone system Special Feature on Intelligent Robats
Xiao-rui ZHU, Chen LIANG, Zhen-guo YIN, Zhong SHAO, Meng-qi LIU, Hao CHEN
Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3, Pages 353-362 doi: 10.1631/FITEE.1800636
A new hierarchical software architecture is proposed to improve the safety and reliability of a safetycritical drone system from the perspective of its source code. The proposed architecture uses formal verification methods to ensure that the implementation of each module satisfies its expected design specification, so that it prevents a drone from crashing due to unexpected software failures. This study builds on top of a formally verified operating system kernel, certified kit operating system (CertiKOS). Since device drivers are considered the most important parts affecting the safety of the drone system, we focus mainly on verifying bus drivers such as the serial peripheral interface and the inter-integrated circuit drivers in a drone system using a rigorous formal verification method. Experiments have been carried out to demonstrate the improvement in reliability in case of device anomalies.
Keywords: Safety-critical Drone Software architecture Formal verification
Minimax Q-learning design for H∞ control of linear discrete-time systems Research Articles
Xinxing LI, Lele XI, Wenzhong ZHA, Zhihong PENG,lixinxing_1006@163.com,xilele.bit@gmail.com,zhawenzhong@126.com,peng@bit.edu.cn
Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 3, Pages 438-451 doi: 10.1631/FITEE.2000446
Keywords: H∞ control Zero-sum dynamic game Reinforcement learning Adaptive dynamic programming Minimax Q-learning
Zi-quan YU, Zhi-xiang LIU, You-min ZHANG, Yao-hong QU, Chun-yi SU
Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 5, Pages 685-700 doi: 10.1631/FITEE.1800569
In this paper, a decentralized fault-tolerant cooperative control scheme is developed for multiple unmanned aerial vehicles (UAVs) in the presence of actuator faults and a directed communication network. To counteract in-flight actuator faults and enhance formation flight safety, neural networks (NNs) are used to approximate unknown nonlinear terms due to the inherent nonlinearities in UAV models and the actuator loss of control effectiveness faults. To further compensate for NN approximation errors and actuator bias faults, the disturbance observer (DO) technique is incorporated into the control scheme to increase the composite approximation capability. Moreover, the prediction errors, which represent the approximation qualities of the states induced by NNs and DOs to the measured states, are integrated into the developed fault-tolerant cooperative control scheme. Furthermore, prescribed performance functions are imposed on the attitude synchronization tracking errors, to guarantee the prescribed synchronization tracking performance. One of the key features of the proposed strategy is that unknown terms due to the inherent nonlinearities in UAVs and actuator faults are compensated for by the composite approximators constructed by NNs, DOs, and prediction errors. Another key feature is that the attitude synchronization tracking errors are strictly constrained within the prescribed bounds. Finally, simulation results are provided and have demonstrated the effectiveness of the proposed control scheme.
Keywords: Fault-tolerant control Decentralized control Prescribed performance Unmanned aerial vehicle Neural network Disturbance observer Directed topology
A traffic-aware Q-network enhanced routing protocol based on GPSR for unmanned aerial vehicle ad-hoc Research Articles
Yi-ning Chen, Ni-qi Lyu, Guang-hua Song, Bo-wei Yang, Xiao-hong Jiang,ch19930611@zju.edu.cn,lvniqi@gmail.com,ghsong@zju.edu.cn,boweiy@zju.edu.cn,jiangxh@zju.edu.cn
Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 9, Pages 1308-1320 doi: 10.1631/FITEE.1900401
Keywords: Traffic balancing Reinforcement learning Geographic routing Q-network
A collaborative target tracking algorithm for multiple UAVs with inferior tracking capabilities Research Articles
Zhi Zheng, Shuncheng Cai,zhengz@fjnu.edu.cn
Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 10, Pages 1334-1350 doi: 10.1631/FITEE.2000362
Keywords: 协同跟踪;意图估计;MDA-Voronoi图;多无人机;性能不占优
Efficient and optimized approximate GDI full adders based on dynamic threshold CNTFETs for specific least significant bits Research Article
Ayoub SADEGHI, Razieh GHASEMI, Hossein GHASEMIAN, Nabiollah SHIRI,H.ghasemian@sutech.ac.ir
Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 4, Pages 599-616 doi: 10.1631/FITEE.2200077
Keywords: field-effect transistor (CNTFET) Optimization algorithm Nondominated sorting based genetic algorithm II(NSGA-II) Gate diffusion input (GDI) Approximate computing
Mutiara Syifa, Sung-Jae Park, Chang-Wook Lee
Engineering 2020, Volume 6, Issue 8, Pages 919-926 doi: 10.1016/j.eng.2020.07.001
Pine wilt disease (PWD) has recently caused substantial pine tree losses in Republic of Korea. PWD is considered a severe problem due to the importance of pine trees to Korean people, so this problem must be handled appropriately. Previously, we examined the history of PWD and found that it had already spread to some regions of Republic of Korea; these became our study area. Early detection of PWD is required. We used drone remote sensing techniques to detect trees with similar symptoms to trees infected with PWD. Drone remote sensing was employed because it yields high-quality images and can easily reach the locations of pine trees. To differentiate healthy pine trees from those with PWD, we produced a land cover (LC) map from drone images collected from the villages of Anbi and Wonchang by classifying them using two classifier methods, i.e., artificial neural network (ANN) and support vector machine (SVM). Furthermore, compared the accuracy of two types of Global Positioning System (GPS) data, collected using drone and hand-held devices, for identifying the locations of trees with PWD. We then divided the drone images into six LC classes for each study area and found that the SVM was more accurate than the ANN at classifying trees with PWD. In Anbi, the SVM had an overall accuracy of 94.13%, which is 6.7% higher than the overall accuracy of the ANN, which was 87.43%. We obtained similar results in Wonchang, for which the accuracy of the SVM and ANN was 86.59% and 79.33%, respectively. In terms of the GPS data, we used two type of hand-held GPS device. GPS device 1 is corrected by referring to the benchmarks sited on both locations, while the GPS device 2 is uncorrected device which used the default setting of the GPS only. The data collected from hand-held GPS device 1 was better than those collected using hand-held GPS device 2 in Wonchang. However, in Anbi, we obtained better results from GPS device 2 than from GPS device 1. In Anbi, the error in the data from GPS device 1 was 7.08 m, while that of the GPS device 2 data was 0.14 m. In conclusion, both classifiers can distinguish between healthy trees and those with PWD based on LC data. LC data can also be used for other types of classification. There were some differences between the hand-held and drone GPS datasets from both areas.
Keywords: Pine wilt disease Drone remote sensing Artificial neural network Support vector machine Global positioning system
Title Author Date Type Operation
Dynamic value iteration networks for the planning of rapidly changing UAV swarms
Wei Li, Bowei Yang, Guanghua Song, Xiaohong Jiang,li2ui2@zju.edu.cn,boweiy@zju.edu.cn,ghsong@zju.edu.cn,jiangxh@zju.edu.cn
Journal Article
Motion planning of a quadrotor robot game using a simulation-based projected policy iteration method
Li-dong ZHANG, Ban WANG, Zhi-xiang LIU, You-min ZHANG, Jian-liang AI
Journal Article
A Cyber-Physical Routing Protocol Exploiting Trajectory Dynamics for Mission-Oriented Flying Ad Hoc Networks
Die Hu, Shaoshi Yang, Min Gong, Zhiyong Feng, Xuejun Zhu
Journal Article
UAV search-and-rescue planning using an adaptive memetic algorithm
Libin Hong, Yue Wang, Yichen Du, Xin Chen, Yujun Zheng,yujun.zheng@computer.org
Journal Article
Multi-objective optimization of a hybrid distributed energy system using NSGA-II algorithm
Hongbo REN, Yinlong LU, Qiong WU, Xiu YANG, Aolin ZHOU
Journal Article
Multi-UAV obstacle avoidance control via multi-objective social learning pigeon-inspired optimization
Wan-ying Ruan, Hai-bin Duan,wyruan@buaa.edu.cn,hbduan@buaa.edu.cn
Journal Article
Secure connectivity analysis in unmanned aerial vehicle networks
Xin YUAN, Zhi-yong FENG, Wen-jun XU, Zhi-qing WEI, Ren-ping LIU
Journal Article
Anewhierarchical software architecture towards safety-critical aspects of a drone system
Xiao-rui ZHU, Chen LIANG, Zhen-guo YIN, Zhong SHAO, Meng-qi LIU, Hao CHEN
Journal Article
Minimax Q-learning design for H∞ control of linear discrete-time systems
Xinxing LI, Lele XI, Wenzhong ZHA, Zhihong PENG,lixinxing_1006@163.com,xilele.bit@gmail.com,zhawenzhong@126.com,peng@bit.edu.cn
Journal Article
Decentralized fault-tolerant cooperative control of multipleUAVs with prescribed attitude synchronization tracking performance under directed communication topology
Zi-quan YU, Zhi-xiang LIU, You-min ZHANG, Yao-hong QU, Chun-yi SU
Journal Article
A traffic-aware Q-network enhanced routing protocol based on GPSR for unmanned aerial vehicle ad-hoc
Yi-ning Chen, Ni-qi Lyu, Guang-hua Song, Bo-wei Yang, Xiao-hong Jiang,ch19930611@zju.edu.cn,lvniqi@gmail.com,ghsong@zju.edu.cn,boweiy@zju.edu.cn,jiangxh@zju.edu.cn
Journal Article
A collaborative target tracking algorithm for multiple UAVs with inferior tracking capabilities
Zhi Zheng, Shuncheng Cai,zhengz@fjnu.edu.cn
Journal Article
Efficient and optimized approximate GDI full adders based on dynamic threshold CNTFETs for specific least significant bits
Ayoub SADEGHI, Razieh GHASEMI, Hossein GHASEMIAN, Nabiollah SHIRI,H.ghasemian@sutech.ac.ir
Journal Article