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...

Hierarchical Motion Planning and Tracking for Autonomous Vehicles Using Global Heuristic Based Potential Field and Reinforcement Learning Based Predictive Control

The autonomous vehicle is widely applied in various ground operations, in which motion planning and tracking control are becoming the key technologies to achieve autonomous driving. In order to further improve the performance of motion planning and tracking control, an efficient hierarchical framework containing motion planning and tracking...

A review of vision-based road detection technology for unmanned vehicles

With the development of unmanned vehicle technology, unmanned vehicles have played a huge role in logistics transportation, emergency rescue and disaster relief, etc., so the research on unmanned vehicles is becoming more and more important. Road detection is an important part of environmental perception and an important factor in the...

Investigation of the hydration properties of cement with EDTA by alternative current impedance spectroscopy

Alternative current impedance spectroscopy (ACIS) is a promising non-destructive testing method to monitor long-term change and assess the durability of concrete. This study investigates the influences of Ethylene Diamine Tetraacetic Acid (EDTA) on the hydration of hardening cement by ACIS. It is found that EDTA retards the early-age...

Generalized Single-Vehicle-Based Graph Reinforcement Learning for Decision-Making in Autonomous Driving

In the autonomous driving process, the decision-making system is mainly used to provide macro-control instructions based on the information captured by the sensing system. Learning-based algorithms have apparent advantages in information processing and understanding for an increasingly complex driving environment. To incorporate the...

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...

Early systems change necessary for catalyzing long-term sustainability in a post-2030 agenda

Progress to date toward the Sustainable Development Goals (SDGs) has fallen short of expectations and is unlikely to fully meet 2030 targets. Past assessments have mostly focused on short- and medium-term evaluations, thus limiting the ability to explore the longer-term effects of systemic interactions with time lags and delay. Here we undertake...

Occlusion Handling and Multi-scale Pedestrian Detection Based on Deep Learning: A Review

Pedestrian detection is an important branch of computer vision, and it has important applications in the fields of autonomous driving, artificial intelligence and video surveillance.With the rapid development of deep learning and the proposal of large-scale datasets, pedestrian detection has reached a new stage and achieves better performance...

LQR Optimal Control of Four-steering Vehicle Based on Particle Swarm Optimization Algorithm

This paper proposes a linear quadratic controller based on particle swarm algorithm for the rear wheel control of four-wheel steering vehicle. Particle swarm optimization with fitness functions is used to optimize the coefficients of the weight matrix offline. The fuzzy rules following the controller is used if the road condition is terrible....

Graph Convolution-Based Deep Reinforcement Learning for Multi-Agent Decision-Making in Interactive Traffic Scenarios

A reliable multi-agent decision-making system is highly demanded for safe and efficient operations of connected and autonomous vehicles (CAVs). In order to represent the mutual effects between vehicles and model the dynamic traffic environments, this research proposes an integrated and open-source framework to realize different Graph...

An Ensemble Learning Framework for Vehicle Trajectory Prediction in Interactive Scenarios

Precisely modeling interactions and accurately predicting trajectories of surrounding vehicles are essential to the decision-making and path-planning of intelligent vehicles. This paper proposes a novel framework based on ensemble learning to improve the performance of trajectory predictions in interactive scenarios. The framework is termed...

A Comparative Study of Deep Reinforcement Learning-based Transferable Energy Management Strategies for Hybrid Electric Vehicles

The deep reinforcement learning-based energy management strategies (EMS) have become a promising solution for hybrid electric vehicles (HEVs). When driving cycles are changed, the neural network will be retrained, which is a time-consuming and laborious task. A more efficient way of choosing EMS is to combine deep reinforcement learning (DRL)...

Deterioration of organic coatings on concrete under artificial aging

The deterioration of organic coatings on concrete is closely linked to the efficiency in the protection process of reinforced structures. In the present work, polyurea resin and epoxy resin, which are widely used engineering coatings, were selected to measure and compare the performance under artificial aging. Fourier Transform infrared...