Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control

The skid-steered vehicle has the advantages of simple structure and strong maneuverability. Its formation driving can effectively improve safety, reduce energy consumption and exert its benefits, and has wide application prospects in military and civilian fields. Differential skid steering has strong horizontal and vertical coupling...

Multi-Agent Decision-Making Modes in Uncertain Interactive Traffic Scenarios via Graph Convolution-Based Deep Reinforcement Learning

As one of the main elements of reinforcement learning, the design of the reward function is often not given enough attention when reinforcement learning is used in concrete applications, which leads to unsatisfactory performances. In this study, a reward function matrix is proposed for training various decision-making modes with emphasis on...

Aqueous chemoenzymatic one-pot enantioselective synthesis of tertiary α-aryl cycloketonesviaPd-catalyzed C-C formation and enzymatic C=C asymmetric hydrogenation

An aqueous chemoenzymatic cascade reaction combining Pd-catalyzed C-C formation and enzymatic C=C asymmetric hydrogenation (AH) was developed for enantioselective synthesis of tertiary α-aryl cycloketones in good yields and excellent enantioselectivities. The stereopreference of the enzyme in AH of α-aryl cyclohexenones was studied. An...