Accelerated K-Serial Stable Coalition for Dynamic Capture and Resource Defense

Coalition is an important mean of multi-robot systems to collaborate on common tasks. An effective and adaptive coalition strategy is essential for the online performance in dynamic and unknown environments. In this work, the problem of territory defense by large-scale heterogeneous robotic teams is considered. The tasks include exploration, capture of dynamic targets, and perimeter defense over valuable resources. Since each robot can choose among many tasks, it remains a challenging problem to coordinate jointly these robots such that the overall utility is maximized. This work proposes a generic coalition strategy called K-serial stable coalition algorithm (KS-COAL). Different from centralized approaches, it is distributed and complete, meaning that only local communication is required and a K-serial Stable solution is ensured. Furthermore, to accelerate adaptation to dynamic targets and resource distribution that are only perceived online, a heterogeneous graph attention network (HGAN)-based heuristic is learned to select more appropriate parameters and promising initial solutions during local optimization. Compared with manual heuristics or end-to-end predictors, it is shown to both improve online adaptability and retain the quality guarantee. The proposed methods are validated rigorously via large-scale simulations with 170 robots and hardware experiments of 13 robots, against several strong baselines including GreedyNE and FastMaxSum.Comment: 8 pages, 10 figures, 1 tabl

Confucius Queue Management: Be Fair But Not Too Fast

When many users and unique applications share a congested edge link (e.g., a home network), everyone wants their own application to continue to perform well despite contention over network resources. Traditionally, network engineers have focused on fairness as the key objective to ensure that competing applications are equitably and led by the switch, and hence have deployed fair queueing mechanisms. However, for many network workloads today, strict fairness is directly at odds with equitable application performance. Real-time streaming applications, such as videoconferencing, suffer the most when network performance is volatile (with delay spikes or sudden and dramatic drops in throughput). Unfortunately, "fair" queueing mechanisms lead to extremely volatile network behavior in the presence of bursty and multi-flow applications such as Web traffic. When a sudden burst of new data arrives, fair queueing algorithms rapidly shift resources away from incumbent flows, leading to severe stalls in real-time applications. In this paper, we present Confucius, the first practical queue management scheme to effectively balance fairness against volatility, providing performance outcomes that benefit all applications sharing the contended link. Confucius outperforms realistic queueing schemes by protecting the real-time streaming flows from stalls in competing with more than 95% of websites. Importantly, Confucius does not assume the collaboration of end-hosts, nor does it require manual parameter tuning to achieve good performance

Output Voltage Response Improvement and Ripple Reduction Control for Input-parallel Output-parallel High-Power DC Supply

A three-phase isolated AC-DC-DC power supply is widely used in the industrial field due to its attractive features such as high-power density, modularity for easy expansion and electrical isolation. In high-power application scenarios, it can be realized by multiple AC-DC-DC modules with Input-Parallel Output-Parallel (IPOP) mode. However, it has the problems of slow output voltage response and large ripple in some special applications, such as electrophoresis and electroplating. This paper investigates an improved Adaptive Linear Active Disturbance Rejection Control (A-LADRC) with flexible adjustment capability of the bandwidth parameter value for the high-power DC supply to improve the output voltage response speed. To reduce the DC supply ripple, a control strategy is designed for a single module to adaptively adjust the duty cycle compensation according to the output feedback value. When multiple modules are connected in parallel, a Hierarchical Delay Current Sharing Control (HDCSC) strategy for centralized controllers is proposed to make the peaks and valleys of different modules offset each other. Finally, the proposed method is verified by designing a 42V/12000A high-power DC supply, and the results demonstrate that the proposed method is effective in improving the system output voltage response speed and reducing the voltage ripple, which has significant practical engineering application value.Comment: Accepted by IEEE Transactions on Power Electronic