Large language models for robotics: Opportunities, challenges, and perspectives
March 2025
Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced...
Distributed algorithms for aggregative games with multiple uncertain Euler–Lagrange systems over switching networks
March 2025
In this paper, we investigate the distributed Nash equilibrium (NE) seeking problem for aggregative games with multiple uncertain Euler–Lagrange (EL) systems over jointly connected and weight-balanced...
Enhancing the generalization capability of 2D array pointer networks through multiple teacher-forcing knowledge distillation
March 2025
The Heterogeneous Capacitated Vehicle Routing Problem (HCVRP), which involves efficiently routing vehicles with diverse capacities to fulfill various customer demands at minimal cost, poses an NP-hard...
Stackelberg game-based optimal secure control against hybrid attacks for networked control systems
Available online 29 March 2025
This paper investigates the problem of optimal secure control for networked control systems under hybrid attacks. A control strategy based on the Stackelberg game framework is proposed, which differs...
Distributed optimal formation control of heterogeneous Euler–Lagrange multi-agent systems
Available online 27 March 2025
In this paper, the distributed optimal formation control problem of heterogeneous Euler–Lagrange multi-agent systems with generic formation constraints and inequality constraints is investigated. Based...
Fault-tolerant control for swarm systems: A geometric-based PDE planning approach
Available online 18 March 2025
This paper investigates the issue of fault-tolerant control for swarm systems subject to switched graphs, actuator faults and obstacles. A geometric-based partial differential equation (PDE) framework...
Enhanced surface defect detection of cylinder liners using Swin Transformer and YOLOv8
Available online 20 January 2025
The service life of internal combustion engines is significantly influenced by surface defects in cylinder liners. To address the limitations of traditional detection methods, we propose an enhanced...
Human–AI interactive optimized shared control
Available online 9 January 2025
This paper presents an optimized shared control algorithm for human–AI interaction, implemented through a digital twin framework where the physical system and human operator act as the real agent while...
A data-driven control method for ground locomotion on sloped terrain of a hybrid aerial-ground robot
December 2024
In this work, we present a data-driven solution for the attitude control of DoubleBee on slopes. DoubleBee is a novel hybrid aerial-ground robot with two rotors and two active wheels. Inspired by the...
A genetic programming approach with adaptive region detection to skin cancer image classification
December 2024
Dermatologists typically require extensive experience to accurately classify skin cancer. In recent years, the development of computer vision and machine learning has provided new methods for assisted...
Industry demand response in dispatch strategy for high-proportion renewable energy power system
December 2024
On the power supply side, renewable energy (RE) is an important substitute to traditional energy, the effective utilization of which has become one of the major challenges in risk-constrained power...
Synergistic frameworks for sensor fault isolation and accommodation in grid-side converters
December 2024
The stable and reliable operation of grid-integrated renewable energy systems requires advanced control and coordination of grid-side converters (GSCs), utilizing the feedback measurements of voltage...
Model predictive control for unprotected left-turn based on sequential convex programming
December 2024
In autonomous driving, an unprotected left turn is a highly challenging scenario. It refers to the situation where there is no dedicated traffic signal controlling the left turns; instead, left-turning...
Adaptive neural network event-triggered secure formation control of nonholonomic mobile robots subject to deception attacks
December 2024
This paper investigates the adaptive neural network (NN) event-triggered secure formation control problem for nonholonomic mobile robots (NMRs) subject to deception attacks. The NNs are employed to...
SPADE: A spatial information assisted collision distance estimator for robotic arm
December 2024
The movement of a robotic arm in the working environment requires efficient and adequate motion planning. The procedure of collision detection based on the object geometry is crucial to plan the motion...
Exponential stabilization of linear systems with feedback optimization and its application to microgrids control
September 2024
This paper proposes a feedback-optimization-based control method for linear time-invariant systems, which is aimed to exponentially stabilize the system and, meanwhile, drive the system output to an...
Fast and robust strain signal processing for aircraft structural health monitoring
September 2024
This work elaborates a fast and robust structural health monitoring scheme for copying with aircraft structural fatigue. The type of noise in structural strain signals is determined by using a statistical...
AV-FDTI: Audio-visual fusion for drone threat identification
September 2024
In response to the evolving challenges posed by small unmanned aerial vehicles (UAVs), which have the potential to transport harmful payloads or cause significant damage, we present AV-FDTI, an innovative...
Containment control of heterogeneous multi-agent systems subject to Markovian randomly switching topologies and unbounded delays
September 2024
This paper addresses the problem of containment control for heterogeneous multi-agent systems subject to Markovian randomly switching topologies and unbounded communication delays. The objective is...
Optimal decarbonisation pathway for mining truck fleets
September 2024
The fossil fuel powered mining truck fleets can contribute up to 80% of total emissions in open pit mines. This study investigates the optimal decarbonisation pathway for mining truck fleets. Notably,...
Prescribed finite-time stabilization of fuzzy neural networks with time-varying controller
September 2024
This paper investigates the exponential and prescribed finite-time stabilization with time-varying controller. First, the constraints of boundedness and differentiability on time delays are simultaneously...
ConGCNet: Convex geometric constructive neural network for Industrial Internet of Things
September 2024
The intersection of the Industrial Internet of Things (IIoT) and artificial intelligence (AI) has garnered ever-increasing attention and research interest. Nevertheless, the dilemma between the strict...
Large-scale self-normalizing neural networks
June 2024
Self-normalizing neural networks (SNN) regulate the activation and gradient flows through activation functions with the self-normalization property. As SNNs do not rely on norms computed from minibatches,...