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| 1 | Coordinated flight control of miniature fixed-wing UAV swarms: methods and experiments显示文摘In this paper,we present our recent advances in both theoretical methods and field experiments for the coordinated control of miniature fixed-wing unmanned aerial vehicle(UAV)swarms.We propose a multi-layered group-based architecture,which is modularized,mission-oriented,and can implement large-scale swarms.To accomplish the desired coordinated formation flight,we present a novel distributed coordinated-control scheme comprising a consensus-based circling rendezvous,a coordinated path-following control for the leader UAVs,and a leader-follower coordinated control for the follower UAVs.The current framework embeds a formation pattern reconfiguration technique.Moreover,we discuss two security solutions(inter-UAV collision avoidance and obstacle avoidance)in the swarm flight problem.The effectiveness of the proposed coordinated control methods was demonstrated in field experiments by deploying up to 21 fixed-wing UAVs. | Xiangke WANG Lincheng SHEN Zhihong LIU Shulong ZHAO Yirui CONG Zhongkui LI Shengde JIA Hao CHEN Yangguan YU Yuan CHANG Yajing WANG | 2019 | Science China(Information Sciences)2019，62，11： | 21 |
| 2 | Real-time trajectory planning for UCAV air-to-surface attack using inverse dynamics optimization method and receding horizon control显示文摘This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle (UCAV) performing autonomous air-to-surface (A/S) attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem (RHC-OCP). In particular, an approximate elliptic launch acceptable region (LAR) model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom (2-DOF) receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment. | Zhang Yu Chen Jing Shen Lincheng | 2013 | Chinese Journal of Aeronautics2013，26，4： | 15 |
| 3 | Computational and experimental study on dynamic behavior of underwater robots propelled by bionic undulating fins显示文摘Bionic undulating fins, inspired by undulations of the median and/or paired fin (MPF) fish, have a bright prospective for un-derwater missions with higher maneuverability, lower noisy, and higher efficiency. In the present study, a coupled computa-tional fluid dynamics (CFD) model was proposed and implemented to facilitate numerical simulations on hydrodynamic ef-fects of the bionic undulating robots. Hydrodynamic behaviors of underwater robots propelled by two bionic undulating fins were computationally and experimentally studied within the three typical desired movement patterns, i.e., marching, yawing and yawing-while-marching. Moreover, several specific phenomena in the bionic undulation mode were unveiled and dis-cussed by comparison between the CFD and experimental results under the same kinematics parameter sets. The contributed work on the dynamic behavior of the undulating robots is of importance for study on the propulsion mechanism and control algorithms. | ZHOU Han, HU TianJiang*, XIE HaiBin, ZHANG DaiBing & SHEN LinCheng College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha 410073, China | 2010 | Science China(Technological Sciences)2010，53，11： | 12 |
| 4 | Formation flight of fixed-wing UAV swarms:A group-based hierarchical approach显示文摘This paper investigates a formation control problem of fixed-wing Unmanned Aerial Vehicle(UAV) swarms. A group-based hierarchical architecture is established among the UAVs, which decomposes all the UAVs into several distinct and non-overlapping groups. In each group, the UAVs form hierarchies with one UAV selected as the group leader. All group leaders execute coordinated path following to cooperatively handle the mission process among different groups, and the remaining followers track their direct leaders to achieve the inner-group coordination. More specifically, for a group leader, a virtual target moving along its desired path is assigned for the UAV, and an updating law is proposed to coordinate all the group leaders’ virtual targets;for a follower UAV, the distributed leader-following formation control law is proposed to make the follower’s heading angle coincide with its direct leader, while keeping the desired relative position with respect to its direct leader. The proposed control law guarantees the globally asymptotic stability of the whole closed-loop swarm system under the control input constraints of fixed-wing UAVs. Theoretical proofs and numerical simulations are provided, which corroborate the effectiveness of the proposed method. | Hao CHEN Xiangke WANG Lincheng SHEN Yirui CONG | 2021 | Chinese Journal of Aeronautics2021，34，2： | 12 |
| 5 | Bio-inspired Flow Sensing and Prediction for Fish-like Undulating Locomotion: A CFD-aided Approach显示文摘 | Han Zhou Tianjiang Hu Kin Huat Low Lincheng Shen Zhaowei Ma Guangming Wang Haijun Xu | 2015 | Journal of Bionic Engineering2015，12，3： | 7 |
| 6 | Bionic asymmetry:from amiiform fish to undulating robotic fins显示文摘Similar to bionic non-smooth which has been successfully applied in anti-resistance and anti-adhesion, bionic asymmetry is also an inherent property of biological systems and is worth exploring for con-ceivable pragmatic applications. Therefore, bionic asymmetry for undulations is of main interest in this paper. We initially investigate bionic asymmetry with a case study of the undulating robotic fin, RoboGnilos, which evolved from the long dorsal fin of Gymnarchus niloticus in the amiiform mode. Since the performance of the pre-existing undulating fins is hardly satisfactory, we obtain bionic in-spirations of undulatory asymmetry through observations and measurements on the specimen of G. niloticus, to improve upon the performance. Consequently, the newly acquired innovation for bionic asymmetry is incorporated into the previously derived kinematics model, and also applied to the experimental prototype. Both computational and experimental results verify that bionic asymmetric undulation generates better propulsion performance (in terms of linear velocity and efficiency) than the traditional symmetric modes with the same undulatory parameters. | HU TianJiang SHEN LinCheng LOW K. H. | 2009 | Chinese Science Bulletin2009，54，4： | 7 |
| 7 | Vector Field Based Sliding Mode Control of Curved Path Following for Miniature Unmanned Aerial Vehicles in Winds显示文摘在这份报纸,为在有经常的速度和高度的风中的缩小的无人的天线车辆(UAV ) 的一个弄弯的路径追随者控制算法被开发。对广泛地考虑的线或轨道追随者,不同如果他们是光滑的,要列在后面的弄弯的路径以弧长度参数被定义,它能是直线,轨道, B 花键或任何另外的曲线。建议路径追随者控制算法,由 VF-SMC 说出,把向量域(VF ) 策略与滑动模式控制(SMC ) 正在相结合方法。设计算法保证追踪的错误面对风是一个围住的球,这被证明,在 Lyapunov 方法和 BIBO 稳定性的帮助下。算法在基于 Matlab 的模拟和高保真两个都被验证半物理的模拟。在基于 Matlab 的模拟,建议算法为在不同曲线显示出它的宽用法的直线,轨道和 B 花键被验证。高保真半物理的模拟系统由实际自动驾驶仪控制器,地面车站和 X 飞机飞行组成模拟器在里面环。在半物理的模拟,建议算法彻底地在各种各样的获得参数和风条件下面为 B 花键路径追随者被验证。所有实验在弄弯的路径列在后面和优秀坚韧性弯屈建议算法的骚乱显示出精确性。 | WANG Yajing WANG Xiangke ZHAO Shulong SHEN Lincheng | 2018 | Journal of Systems Science & Complexity2018，31，1： | 6 |
| 8 | Adaptive level of autonomy for human-UAVs collaborative surveillance using situated fuzzy cognitive maps显示文摘Collaborating with a squad of Unmanned Aerial Vehicles(UAVs)is challenging for a human operator in a cooperative surveillance task.In this paper,we propose a cognitive model that can dynamically adjust the Levels of Autonomy(LOA)of the human-UAVs team according to the changes in task complexity and human cognitive states.Specifically,we use the Situated Fuzzy Cognitive Map(Si FCM)to model the relations among tasks,situations,human states and LOA.A recurrent structure has been used to learn the strategy of adjusting the LOA,while the collaboration task is separated into a perception routine and a control routine.Experiment results have shown that the workload of the human operator is well balanced with the task efficiency. | Zhe ZHAO Yifeng NIU Lincheng SHEN | 2020 | Chinese Journal of Aeronautics2020，33，11： | 6 |
| 9 | Event-triggered encirclement control of multi-agent systems with bearing rigidity显示文摘In recent years, the problem of multi-agent encirclement has attained much attention and was extensively studied. However, few work consider the factor that the on-board calculation as well as the communication capacity in the multi-agent system is limited. We investigate the encirclement control by employing the newly developed bearing rigidity theory and event-triggered mechanism. Firstly, in order to reduce the onboard loads,the event-triggered mechanism is considered in the framework and further an event-triggered control law based on bearing rigidity is proposed. The input-to-state stability(ISS) of networked agents is also analyzed by using the Lyapunov method and the cyclic-small-gain theory. In addition, the lower bound for the inter-event times is provided. Finally, to verify the efficiency and feasibility of the proposed encirclement control law, numerical experiments are investigated. | Yangguang YU Zhiwen ZENG Zhongkui LI Xiangke WANG Lincheng SHEN | 2017 | Science China(Information Sciences)2017，60，11： | 6 |
| 10 | Improving multi-target cooperative tracking guidance for UAV swarms using multi-agent reinforcement learning显示文摘Multi-Target Tracking Guidance(MTTG)in unknown environments has great potential values in applications for Unmanned Aerial Vehicle(UAV)swarms.Although Multi-Agent Deep Reinforcement Learning(MADRL)is a promising technique for learning cooperation,most of the existing methods cannot scale well to decentralized UAV swarms due to their computational complexity or global information requirement.This paper proposes a decentralized MADRL method using the maximum reciprocal reward to learn cooperative tracking policies for UAV swarms.This method reshapes each UAV’s reward with a regularization term that is defined as the dot product of the reward vector of all neighbor UAVs and the corresponding dependency vector between the UAV and the neighbors.And the dependence between UAVs can be directly captured by the Pointwise Mutual Information(PMI)neural network without complicated aggregation statistics.Then,the experience sharing Reciprocal Reward Multi-Agent Actor-Critic(MAAC-R)algorithm is proposed to learn the cooperative sharing policy for all homogeneous UAVs.Experiments demonstrate that the proposed algorithm can improve the UAVs’cooperation more effectively than the baseline algorithms,and can stimulate a rich form of cooperative tracking behaviors of UAV swarms.Besides,the learned policy can better scale to other scenarios with more UAVs and targets. | Wenhong ZHOU Jie LI Zhihong LIU Lincheng SHEN | 2022 | Chinese Journal of Aeronautics2022，35，7： | 6 |
| 11 | Hybrid hierarchical trajectory planning for a fixed-wing UCAV performing air-to-surface multi-target attack显示文摘This paper considers the problem of generating a flight trajectory for a single fixed-wing unmanned combat aerial vehicle (UCAV) performing an air-to-surface multi-target attack (A/SMTA) mission using satellite-guided bombs. First, this problem is formulated as a variant of the traveling salesman problem (TSP), called the dynamic-constrained TSP with neighborhoods (DCTSPN). Then, a hierarchical hybrid approach, which partitions the planning algorithm into a roadmap planning layer and an optimal control layer, is proposed to solve the DCTSPN. In the roadmap planning layer, a novel algorithm based on an updatable probabilistic roadmap (PRM) is presented, which operates by randomly sampling a finite set of vehicle states from continuous state space in order to reduce the complicated trajectory planning problem to planning on a finite directed graph. In the optimal control layer, a collision-free state-to-state trajectory planner based on the Gauss pseudospectral method is developed, which can generate both dynamically feasible and optimal flight trajectories. The entire process of solving a DCTSPN consists of two phases. First, in the offline preprocessing phase, the algorithm constructs a PRM, and then converts the original problem into a standard asymmetric TSP (ATSP). Second, in the online querying phase, the costs of directed edges in PRM are updated first, and a fast heuristic searching algorithm is then used to solve the ATSP. Numerical experiments indicate that the algorithm proposed in this paper can generate both feasible and near-optimal solutions quickly for online purposes. | Yu Zhang Jing Chen Lincheng Shen | 2012 | Journal of Systems Engineering and Electronics2012，23，4： | 5 |
| 12 | CPGs control method using a new oscillator in robotic fish显示文摘A new oscillator is presented in this paper based on our pervious oscillator (Zhang’s oscillator). Using this new oscillator, a bionic neural control system, the central pattern generators (CPGs) control system, is built. This control system has a two-level form. To validate the function of this new oscillator and the control system, simulations and experiments were both carried out, a simple robotic fish was built with three joints, and the results showed that the new oscillator can be used in startup and stop control mode, angle offset control mode and amplitude changing control mode. The new oscillator can be used in bionic CPGs control area with a simple form, and may be a new progress in bionic control. | WANG Gang*, ZHANG DaiBing, LIN LongXin, XIE HaiBin, HU TianJiang & SHEN LinCheng School of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China | 2010 | Science China(Technological Sciences)2010，53，11： | 4 |
| 13 | Robust optimization of aircraft weapon delivery trajectory using probability collectives and meta-modeling显示文摘Conventional trajectory optimization techniques have been challenged by their inability to handle threats with irregular shapes and the tendency to be sensitive to control variations of aircraft. Aiming to overcome these difficulties, this paper presents an alternative approach for trajectory optimization, where the problem is formulated into a parametric optimization of the maneuver variables under a tactics template framework. To reduce the size of the problem, global sensitivity analysis (GSA) is performed to identify the less-influential maneuver variables. The probability collectives (PC) algorithm, which is well-suited to discrete and discontinuous optimization, is applied to solve the trajectory optimization problem. The robustness of the trajectory is assessed through multiple sampling around the chosen values of the maneuver variables. Meta-models based on radius basis function (RBF) are created for evaluations of the means and deviations of the problem objectives and constraints. To guarantee the approximation accuracy, the meta-models are adaptively updated during optimization. The proposed approach is demonstrated on a typical airground attack mission scenario. Results reveal that the proposed approach is capable of generating robust and optimal trajectories with both accuracy and efficiency. | Wang Nan Shen Lincheng Liu Hongfu Chen Jing Hu Tianjiang | 2013 | Chinese Journal of Aeronautics2013，26，2： | 3 |
| 14 | New three-dimensional guidance law for BTT missiles based on differential geometry and Lie-group显示文摘A new non-decoupling three-dimensional guidance law is proposed for bank-to-turn (BTT) missiles with the motion coupling problem.In this method,the different geometry is taken for theoretically modeling on BTT missiles' motion within the threedimensional style without information loss,and meanwhile,Liegroup is utilized to describe the line-of-sight (LOS) azimuth when the terminal angular constraints are considered.Under these circumstances,a guidance kinematics model is established based on differential geometry.Then,corresponding to no terminal angular constraint and terminal angular constraints,guidance laws are respectively designed by using proportional control and generalized proportional-derivative (PD) control in SO(3) group.Eventually,simulation results validate that this developed method can effectively avoid the complexity of pure Lie-group method and the information loss of the traditional decoupling method as well. | Shuangchun Peng Liang Pan Tianjiang Hu Lincheng Shen | 2011 | Journal of Systems Engineering and Electronics2011，22，4： | 2 |
| 15 | An Adaptive Multi-objective Particle Swarm Optimization for Color Image Fusion 显示文摘 | Yifeng Niu Lincheng Shen | 2006 | Lecture Notes in Computer Science LNCS (S0302-9743)2006，4247，47： | 1 |
| 16 | Biological inspirations, kinematics modeling, mechanism design and experiments on an undulating robotic fin inspired by Gymnarchus niloticus显示文摘 | Tianjiang Hu Lincheng Shen Longxin Lin Haijun Xu | 2008 | Mechanism and Machine Theory2008，，3： | 1 |
| 17 | Learning and fatigue inspired method for optimized HTN planning显示文摘Learning is widely used in intelligent planning to shorten the planning process or improve the plan quality.This paper aims at introducing learning and fatigue into the classical hierarchical task network (HTN) planning process so as to create better highquality plans quickly.The process of HTN planning is mapped during a depth-first search process in a problem-solving agent,and the models of learning in HTN planning is conducted similar to the learning depth-first search (LDFS).Based on the models,a learning method integrating HTN planning and LDFS is presented,and a fatigue mechanism is introduced to balance exploration and exploitation in learning.Finally,experiments in two classical domains are carried out in order to validate the effectiveness of the proposed learning and fatigue inspired method. | Wanpeng Zhang Lincheng Shen Jing Chen | 2012 | Journal of Systems Engineering and Electronics2012，23，2： | 1 |
| 18 | Genetic algorithm based approach for multiUAV cooperative reconnaissance mission planning problem显示文摘 | TIAN JingSHEN LinchengZHENG Yanxing | 2006 | Computer2006，2006，4203： | 1 |
| 19 | Truthfully coordinating participation routes in informative participatory sensing显示文摘Participatory sensing is a promising approach with which people contribute sensory information to form a body of knowledge. In practice, people may have different ways to engage in a participatory sensing campaign. For example, there are several possible routes from a participant’s home to her office, where a route can be seen as a set of space-temporal coordinates, and measurements can be taken at these coordinates. To coordinate participation routes to collect more valuable information with a limited number of participants,a further concept, informative participatory sensing(IPS) has been developed recently. However, existing IPS systems lack incentive mechanisms to fight against the strategic behaviours of self-interested users.Hence, we propose a formal model of IPS where a service provider can coordinate individual schedules of self-interested participants. As the problem of informative path coordination is NP-hard, the well-known mechanism, Vickrey-Clarke-Groves(VCG) will be computationally inefficient to solve our problem. Given this, we design a sequentially sorting mechanism(SSM) for the model to allocate the schedules and determine the bonuses for these participants, and we then theoretically prove that SSM is computationally efficient,individually rational, profitable and truthful. Furthermore, we empirically evaluate our route allocation method in simulations and show that it significantly outperforms several benchmark approaches. | Shaofei CHEN Dengji ZHAO Alexandros ZENONOS Jing CHEN Lincheng SHEN | 2021 | Science China(Information Sciences)2021，64，12： | 0 |
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