This paper investigates the problem of cooperative localization(CL)for a multi-robot system(MRS)under dynamic measurement topology,which involves a group of robots collectively estimating their poses with respect to a...This paper investigates the problem of cooperative localization(CL)for a multi-robot system(MRS)under dynamic measurement topology,which involves a group of robots collectively estimating their poses with respect to a common reference frame using ego-motion measurements and robot-to-robot relative measurements.The authors provide a theoretical analysis of the time-varying unobservable subspace and propose a consistent cooperative localization algorithm.First,the authors introduce the relative measurement graph(RMG)to represent the relative pose measurements obtained by the MRS at each instant.Then,the authors derive the local observability matrix over a time interval.An equivalent relationship is established between the local observability matrix and the spectral matrices of the RMG.Moreover,the authors present a method for constructing the unobservable subspace based on the RMG under different topology conditions.Based on this analysis,the authors design a consistent cooperative localization algorithm that satisfies the constraints of the time-varying unobservable subspace.An analytical optimal solution is derived for the constrained optimization problem.Monte Carlo numerical simulations are conducted to demonstrate the consistency and accuracy of the proposed method.展开更多
In this paper,the conventional method of establishing spatial channel models(SCMs)based on measurements is extended by including clusters-of-scatterers(CoSs)that exist along propagation paths.The channel models result...In this paper,the conventional method of establishing spatial channel models(SCMs)based on measurements is extended by including clusters-of-scatterers(CoSs)that exist along propagation paths.The channel models resulted utilizing this new method are applicable for generating channel realizations of reasonable spatial consistency,which is required for designing techniques and systems of the fifth generation wireless communications.The scatterers’locations are estimated from channel measurement data obtained using large-scale antenna arrays through the Space-Alternating Generalized Expectation-Maximization(SAGE)algorithm derived under a spherical wavefront assumption.The stochastic properties of CoSs extracted from real measurement data in an indoor environment are presented.展开更多
The theory of （n） truth degrees of formulas is proposed in modal logic for the first time. A consistency theorem is obtained which says that the （n） truth degree of a modality-free formula equals the truth degree ...The theory of （n） truth degrees of formulas is proposed in modal logic for the first time. A consistency theorem is obtained which says that the （n） truth degree of a modality-free formula equals the truth degree of the formula in two-valued propositional logic. Variations of （n） truth degrees of formulas w.r.t. n in temporal logic is investigated. Moreover, the theory of （n） similarity degrees among modal formulas is proposed and the （n） modal logic metric space is derived therefrom which contains the classical logic metric space as a subspace. Finally, a kind of approximate reasoning theory is proposed in modal logic.展开更多
文摘This paper investigates the problem of cooperative localization(CL)for a multi-robot system(MRS)under dynamic measurement topology,which involves a group of robots collectively estimating their poses with respect to a common reference frame using ego-motion measurements and robot-to-robot relative measurements.The authors provide a theoretical analysis of the time-varying unobservable subspace and propose a consistent cooperative localization algorithm.First,the authors introduce the relative measurement graph(RMG)to represent the relative pose measurements obtained by the MRS at each instant.Then,the authors derive the local observability matrix over a time interval.An equivalent relationship is established between the local observability matrix and the spectral matrices of the RMG.Moreover,the authors present a method for constructing the unobservable subspace based on the RMG under different topology conditions.Based on this analysis,the authors design a consistent cooperative localization algorithm that satisfies the constraints of the time-varying unobservable subspace.An analytical optimal solution is derived for the constrained optimization problem.Monte Carlo numerical simulations are conducted to demonstrate the consistency and accuracy of the proposed method.
基金jointly supported by the key project “5G Ka frequency bands and higher and lower frequency band cooperative trail system research and development” of China Ministry of Industry and Information Technology under Grant number 2016ZX03001015the Hong Kong,Macao and Taiwan Science&Technology Cooperation Program of China under Grant No.2014DFT10290.
文摘In this paper,the conventional method of establishing spatial channel models(SCMs)based on measurements is extended by including clusters-of-scatterers(CoSs)that exist along propagation paths.The channel models resulted utilizing this new method are applicable for generating channel realizations of reasonable spatial consistency,which is required for designing techniques and systems of the fifth generation wireless communications.The scatterers’locations are estimated from channel measurement data obtained using large-scale antenna arrays through the Space-Alternating Generalized Expectation-Maximization(SAGE)algorithm derived under a spherical wavefront assumption.The stochastic properties of CoSs extracted from real measurement data in an indoor environment are presented.
基金Supported by the National Natural Science Foundation of China (Grant Nos. 10331010 and 10771129)the Foundation of 211 Constructionof Shaanxi Normal University
文摘The theory of （n） truth degrees of formulas is proposed in modal logic for the first time. A consistency theorem is obtained which says that the （n） truth degree of a modality-free formula equals the truth degree of the formula in two-valued propositional logic. Variations of （n） truth degrees of formulas w.r.t. n in temporal logic is investigated. Moreover, the theory of （n） similarity degrees among modal formulas is proposed and the （n） modal logic metric space is derived therefrom which contains the classical logic metric space as a subspace. Finally, a kind of approximate reasoning theory is proposed in modal logic.
