An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination

This article reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006. Distributed coordination of multiple vehicles, including unmanned aerial vehicles, unmanned ground vehicles and unmanned underwater vehicles, has been a very active research subject studied extensively by the systems and control community. The recent results in this area are categorized into several directions, such as consensus, formation control, optimization, task assignment, and estimation. After the review, a short discussion section is included to summarize the existing research and to propose several promising research directions along with some open problems that are deemed important for further investigations

Robot Protection in the Hazardous Environments

Rescue missions for chemical, biological, radiological, nuclear, and explosive (CBRNE) incidents are highly risky and sometimes it is impossible for rescuers to perform, while these accidents vary dramatically in features and protection requirements. The purpose of this chapter is to present several protection approaches for rescue robots in the hazardous conditions. And four types of rescue robots are presented, respectively. First, design factors and challenges of the rescue robots are analyzed and indicated for these accidents. Then the rescue robots with protective modification are presented, respectively, meeting individual hazardous requirements. And finally several tests are conducted to validate the effectiveness of these modified robots. It is clear that these well-designed robots can work efficiently for the CBRNE response activities

Effects of post-anneal conditions on the dielectric properties of CaCu3Ti4O12 thin films prepared on Pt/Ti/SiO2/Si substrates

High-dielectric-constant CaCu3Ti4O12 (CCTO) thin films were prepared on Pt/Ti/SiO2/Si(100) substrates by pulsed-laser deposition. The 480 nm thick polycrystalline films have preferred orientation and show obvious crystallization on the surface. The temperature-dependence of dielectric constant and loss of the Pt/CCTO/Pt capacitors is comparable with that of epitaxial CCTO films grown on oxides substrates. We found that the dielectric properties are very sensitive to the post-annealing atmosphere and temperature. Post-annealing in nitrogen atmosphere produces larger low-frequency dielectric relaxation as the annealing temperature increases, while annealing in oxygen atmosphere at high temperature suppresses the relaxation but lowers the dielectric constant. Such results are attributed to the presence of insulating grain boundary barrier layers.Comment: 10 pages, 3 figure

On Training Traffic Predictors via Broad Learning Structures:A Benchmark Study

A fast architecture for real-time (i.e., minute-based) training of a traffic predictor is studied, based on the so-called broad learning system (BLS) paradigm. The study uses various traffic datasets by the California Department of Transportation, and employs a variety of standard algorithms (LASSO regression, shallow and deep neural networks, stacked autoencoders, convolutional, and recurrent neural networks) for comparison purposes: all algorithms are implemented in MATLAB on the same computing platform. The study demonstrates a BLS training process two-three orders of magnitude faster (tens of seconds against tens-hundreds of thousands of seconds), allowing unprecedented real-time capabilities. Additional comparisons with the extreme learning machine architecture, a learning algorithm sharing some features with BLS, confirm the fast training of least-square training as compared to gradient training

Learning with Out-of-Distribution Data for Audio Classification

In supervised machine learning, the assumption that training data is labelled correctly is not always satisfied. In this paper, we investigate an instance of labelling error for classification tasks in which the dataset is corrupted with out-of-distribution (OOD) instances: data that does not belong to any of the target classes, but is labelled as such. We show that detecting and relabelling certain OOD instances, rather than discarding them, can have a positive effect on learning. The proposed method uses an auxiliary classifier, trained on data that is known to be in-distribution, for detection and relabelling. The amount of data required for this is shown to be small. Experiments are carried out on the FSDnoisy18k audio dataset, where OOD instances are very prevalent. The proposed method is shown to improve the performance of convolutional neural networks by a significant margin. Comparisons with other noise-robust techniques are similarly encouraging.Comment: Paper accepted for 45th International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2020

An LMI approach to global asymptotic stability of the delayed Cohen-Grossberg neural network via nonsmooth analysis

In this paper, a linear matrix inequality (LMI) to global asymptotic stability of the delayed Cohen-Grossberg neural network is investigated by means of nonsmooth analysis. Several new sufficient conditions are presented to ascertain the uniqueness of the equilibrium point and the global asymptotic stability of the neural network. It is noted that the results herein require neither the smoothness of the behaved function, or the activation function nor the boundedness of the activation function. In addition, from theoretical analysis, it is found that the condition for ensuring the global asymptotic stability of the neural network also implies the uniqueness of equilibrium. The obtained results improve many earlier ones and are easy to apply. Some simulation results are shown to substantiate the theoretical results