Barrier Function-based Safe Reinforcement Learning for Formation Control of Mobile Robots

Distributed model predictive control (DMPC) concerns how to online control multiple robotic systems with constraints effectively. However, the nonlinearity, nonconvexity, and strong interconnections of dynamic system models and constraints can make the real-time and real-world DMPC implementations nontrivial. Reinforcement learning (RL)...

Author Correction: Plastic waste discharge to the global ocean constrained by seawater observations

Correction to: Nature Communications, published online 13 March 2023 The original version of this Article contained an error in Fig. 2, in which c was incorrectly described as “middle scenario” where it should have been described as “low scenario”. The correct version of Fig. 2 is: (Figure presented.) which replaces the previous incorrect...

Manipulate energy transport via fluorinated spacers towards record-efficiency 2D Dion-Jacobson CsPbI₃ solar cells

Two-dimensional (2D) Dion-Jacobson (D-J)-type cesium lead iodide CsPbI ₃ perform remarkably in terms of stability. However, the complex interactions between spacer and inorganic layers limit its excellent progress in perovskite solar cells (PSCs). Herein, starting from the considerable structural diversity of organic spacers, we...

Plastic waste discharge to the global ocean constrained by seawater observations

Marine plastic pollution poses a potential threat to the ecosystem, but the sources and their magnitudes remain largely unclear. Existing bottom-up emission inventories vary among studies for two to three orders of magnitudes (OMs). Here, we adopt a top-down approach that uses observed dataset of sea surface plastic concentrations and an...

Spatial variation pattern analysis of hydrologic processes and water quality in three gorges reservoir area

The Three Gorges Project (TGP) has greatly enhanced the heterogeneity of the underlying surface in the Three Gorges Reservoir Area (TGRA), thereby affecting the hydrologic processes and water quality. However, the influence of the differences of underlying surfaces on the hydrologic processes and water quality in the TGRA has not been studied...