Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control (Lecture Notes in Electrical Engineering, 934)

This book includes original, peer-reviewed research papers from the 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control (CCSICC2021), held in Shenzhen, China on January 19-22, 2022. The topics covered include but are not limited to: reviews and discussions of swarm intelligence, basic theories on swarm intelligence, swarm communication and networking, swarm perception, awareness and location, swarm decision and planning, cooperative control, cooperative guidance, swarm simulation and assessment. The papers showcased here share the latest findings on theories, algorithms and applications in swarm intelligence and cooperative control, making the book a valuable asset for researchers, engineers, and university students alike. Contents Cooperative Unknown Area Coverage by a Swarm of Agents with Limited Sensing and Identification Capabilities 1 Introduction 2 Statement of the Limited-Sensing Coverage Problem 3 The Multi-agent Sweep Coverage Control Strategy Under Crude Identification 4 Simulation Experiments 5 Conclusions References Data-Driven Suboptimal Distributed Consensus Control for Discrete-time Multi-agent Systems with Multiple Objectives 1 Introduction 2 Preliminary 3 Data-Driven Suboptimal Multiobjective Distributed Control Algorithm 3.1 Problem Formulation 3.2 Q-function-based Control Policy Construction Approach 3.3 Policy Iteration Based Actor-critic Learning Framework 3.4 Analysis of Convergence and Suboptimality 4 Simulation 5 Conclusion References Overview on Task Allocation Methods for Cooperative Multi-target Attack 1 Introduction 2 Task Allocation Project for Cooperative Attack 3 Multi-UAV Cooperative Task Allocation 3.1 Task Allocation Modeling 3.2 Task Allocation Solution 4 Challenges and Prospects 5 Conclusions References Summary of Path Planning Approaches of Multiple UAVs 1 Introduction 2 Multi-UAVs Formation Path Planning Project 3 Multi-UAV Cooperative Path Planning 3.1 Path Planning Modeling 3.2 Path Planning Solution 4 Challenges and Prospects 5 Conclusions References Compatible Formation of UAVs with Visual Sensing Constraint and Obstacle Avoidance 1 Introduction 2 Problem Formulation 2.1 Autonomous Systems 2.2 Visual Sensing Constraint 2.3 Obstacle Model 2.4 Control Objective 3 Controller Design 3.1 Cost Function 3.2 Gradient Decent Like Control Design 4 Simulation 5 Conclusion References A Visual Path Planning Framework Based on Path Search Area 1 Introduction 2 Visible Area 3 Path Search Area 4 Path Planning Framework 4.1 Enumeration Optimization 4.2 Monotonic Genetic Algorithm 5 Simulation Results 6 Conclusion References Structural Design and Gait Planning of Hydraulic Humanoid Biped Robots 1 Introduction 1.1 Research Background 1.2 Main Content 2 Structural Design 3 Method 3.1 3d-Lipm 3.2 Hierarchical Control Structure 3.3 Generate the Trajectory 4 Simulation Result 5 Conclusion References High-order Sliding Mode Formation Control of Multiple Aerial Robotic Vehicle Systems with Time-Varying Disturbances 1 Introduction 2 Problem Formulation 2.1 Dynamics of ARV 2.2 Formation Constraint 2.3 CCSC Strategy 3 Main Results 4 Numerical Simulation 5 Conclusions References Prescribed-Time Multi-target Tracking Control for Second-Order Multi-agent Systems 1 Introduction 2 Problem Formulation and Preliminaries 2.1 Graph Theory 2.2 Problem Formulation 2.3 Preliminaries 3 Main Results 3.1 Prescribed-Time Multi-target Tracking Control Algorithm 3.2 Analysis for Prescribed-Time Multi-target Tracking 4 Simulation Results 5 Conclusion References Prescribed-Time Time-Varying Formation Control for Multiple USVs 1 Introduction 2 Problem Formulation and Preliminaries 3 Main Results 3.1 Design of PTDO 3.2 Controller Design and Stability Analysis 4 Simulation Results 5 Conclusions References Observer-Based Tracking Control for Linear Switched Multiagent Systems with a Leader of Nonzero Inputs 1 Introduction 2 Problem Formulation 3 Main Results 3.1 Tracking Control with Discontinuous Function v() 3.2 Tracking Control with Continuous Function v() 4 Numerical Simulation 5 Conclusion References Consensus Analysis for Nonlinear Multi-agent Systems via Event-Triggered Impulsive Strategy Based on Observer 1 Introduction 2 Problem Formulation 3 Main Results 3.1 Consensus with Leader 3.2 Consensus Without Leader 4 Numerical Simulation 5 Conclusion References Large-Scale Multi-robot Collaborative Localization with Relative Observations 1 Introduction 2 Problem Formulation 3 Cooperative Localization 3.1 Acyclic Graph Case 3.2 Cyclic Graph Case 4 Experiments and Analysis 4.1 Simulation Results of Acyclic Communication Graph 4.2 Simulation Results of Cyclic Communication Graph 5 Conclusion References Optimal Group Consensus Control for Multi-agent Systems in Coopetition Networks via Dynamic Event-Triggered Methods 1 Introduction 2 Preliminaries 2.1 Graph Theory 2.2 Problems Statement 3 Main Results 3.1 Event-Triggered Framework 3.2 Implementation of the ADP Method 3.3 Stability Analysis 4 Simulation 5 Conclusion References Secure Control of Uncertain Multi-agent Systems Under Cyber Attacks 1 Introduction 2 Preliminaries 3 Main Result 3.1 Design of Consensus Protocol 3.2 Consensus Analysis 4 An Illustrative Example 5 Conclusion References Distributed Guidance Strategy with an Appointed Cooperative Time over Directed Network 1 Introduction 2 Cooperative Guidance Strategy Design 2.1 Dynamics Model 2.2 Interaction Model 2.3 Strategy Description 3 Convergence Result Analysis 4 Simulation 5 Conclusions References Stability Analysis of Distributed Optimization for Multi-agent Systems Under Time-Varying Digraphs 1 Introduction 2 Preliminaries 2.1 Hybrid Systems 2.2 Graph Theory 2.3 Convex Analysis 2.4 Problem Formulation 3 Distributed Coordination Protocol over Time-Varying Topologies 4 Convergence Analysis 5 Simulations 6 Conclusions References Distributed Attitude Coordinated Control for Spacecraft Formation Flying with Unknown Disturbances Via Sliding Mode Control 1 Introduction 2 Preliminaries 2.1 Notations 2.2 Graph Theory 2.3 Spacecraft Mathematical Model 2.4 Control Objective 3 Main Results 4 Simulation 5 Conclusion References A Hardware-in-the-Loop Simulation Platform for UAV Swarm Decision-Making 1 Introduction 2 Construction of HIL Simulation Platform for UAV Swarm 2.1 Swarm Decision-Making Module 2.2 Multi-UAV Communication Module 3 HIL Simulation Test of Multi-UAV 3.1 Alignment 3.2 Cohesion 3.3 Separation 4 Conclusion References Online Task Assignment Method of Multi-aircraft Based on Decreasing Pheromone Ant Colony Algorithm 1 Introduction 2 Problem Modeling 2.1 Constraint Model 2.2 Evaluation Index Model 3 Online Task Assignment Algorithm 3.1 Algorithm Ideas 3.2 Selection Strategy Based on Roulette 3.3 Update Method of Pheromone Decrement 3.4 Algorithm Process 4 Simulation Analysis 5 Conclusion References IMFlySim: A High-Fidelity Simulation Platform for UAV Swarms 1 Introduction 2 Architecture of IMFlySim 2.1 Single-Node Structure 2.2 Multi-node Simulation 3 Experiments 3.1 Flight Experiments 3.2 Formation Experiments 4 Conclusion and Future Work References Task Allocation of Multi-robot Coalition Formation 1 Introduction 2 Modeling of Resource Constrained Multi-robot System 2.1 Resource Modeling 2.2 Robot Modeling 2.3 Task Modeling 2.4 Priority Modeling 2.5 Utility Modeling 3 Coalition Formation Algorithm 3.1 Determining Task Priority (Line 2) 3.2 Selecting Qualified Robots (Lines 3–8) 3.3 Finding the Robots with the Highest Utility (Lines 10–18) 3.4 Forming the Coalition of Robots (Lines 22–23) 3.5 Controlling Cycle Conditions (Lines 24–30) 4 Simulations 5 Conclusions References Trajectory Recognition of Unmanned Aerial Vehicles Based on LSTM Network 1 Introduction 2 UAVs’ Standard Trajectories 3 LSTM Network 4 Experiments 5 Conclusion References MADDPG: Multi-agent Deep Deterministic Policy Gradient Algorithm for Formation Elliptical Encirclement and Collision Avoidance 1 Introduction 2 Problem Formulation 3 The Proposed Approach 3.1 Reinforcement Learning Environment 3.2 Structure of Neural Networks 3.3 Reward Design 4 Experimental Results and Analysis 4.1 Case I: Formation Elliptical Encirclement with a Moving Target 4.2 Case II: Formation Circular Encirclement with a Moving Target and Landmarks 5 Conclusion and Future Work References Dynamic Evasive Strategy of UAV Swarm Active Interception 1 Introduction 2 Scene Design and Problem Formulation 3 UAV Evasive Strategy Based on Speed Obstacle Method 3.1 Speed Obstacle Method 3.2 Attacker's Avoidance of Dynamic Obstacles 3.3 Algorithm 4 The Simulation Results 5 Conclusion References A Kind of Obstacle Avoidance Method for UAV Swarm 1 Introduction 2 Notation and Preliminaries 2.1 Graph Theory 2.2 UAV Motion Model 3 Swarm Obstacle Avoidance Method 3.1 Alliance Formation 3.2 Design of Obstacle Avoidance Method 3.3 Design of Control Law 4 Simulation Verification and Analysis 5 Conclusion References UAV Target Detection Algorithm Based on Improved YOLOv4 1 UAV Target Detection Based on YOLOv4 1.1 YOLOv4 Algorithm 1.2 UAV Dataset 1.3 Evaluation Index 2 Improvement of UAV Detection Algorithm Based on YOLOv4 2.1 Anchor Template Learning Based on K-means++ Clustering 2.2 IoU Loss Function 3 Analysis of Experimental Results 3.1 K-means++ Experiment 3.2 Ignore Threshold Experiment 3.3 IoU Threshold Experiment 3.4 Overall Comparison of Ablation Experiments 3.5 Performance Comparisons with Other Baselines 4 Conclusion References Extended ADMM with Paillier Cryptosystem for Nonsmooth Decentralized Optimization 1 Introduction 2 Extended Proximal ADMM 3 Linear Convergence 4 Privacy Preservation 5 Numerical Simulations 6 Conclusion References Event-Based Prescribed Performance Fuzzy Adaptive Containment Control for Multi-agent Systems with Unknown Control Direction and Sensor Faults 1 Introduction 2 Preliminaries and Problem Formulation 2.1 Graph Theory 2.2 Problem Formulation 2.3 Adaptive Fuzzy Event-Triggered Containment Control 3 Stability Analysis 4 Simulation Results 5 Conclusion References Differential Backstepping Control for Quadrotor Aircraft 1 Introduction 2 Quadrotor Model 3 Main Results 3.1 Position Control 3.2 Attitude Control 4 Numerical Simulations 4.1 Low Order Trajectory Tracking 4.2 High Order Trajectory Tracking 5 Conclusion References Iterative Learning Consensus Tracking Control for Multi-agent Systems with Neighboring Agents' Average Control Inputs 1 Introduction 2 Preliminaries and Problem Formulation 2.1 Preliminaries 2.2 Problem Formulation 3 Consensus Algorithm and Convergence Analysis 4 Simulation Example 5 Conclusion References Distributed Consensus Control for Multi-UAV Systems with Uncertain Gains Under Gust Winds 1 Introduction 2 Problem Formulation 3 Main Results 3.1 Graph Theory 3.2 Nonlinear SMO 3.3 Distributed Consensus Controller 4 Simulation Results 5 Conclusion References A New Technology of Sidelobe Suppression Based on Cluster Formation Optimization 1 Introduction 2 Wide-area Distributed Coherent Synthesis Mechanism 3 Wide-area Distributed Coherent Synthesis Characteristics 4 Sidelobe Suppression Technology Based on Formation Optimization 5 Experiment 6 Conclusion References Unified Technology of Battlefield Target Recognition Information Based on Group Operations 1 Introduction 2 Cluster Architecture Analysis 2.1 Centralized Architecture 2.2 Distributed Architecture 2.3 Hybrid Architecture 3 Comparative Analysis of the Three Architectures 3.1 Analysis of Communication Data Volume 3.2 Computational Complexity Analysis 3.3 Architecture Robustness Analysis 3.4 Analysis of the Degree of Influence by Communication 4 Algorithm Analysis 5 Experiment 5.1 Cluster Formation-Level Target Recognition Simulation 5.2 Consistency Simulation of Cluster Target Recognition Results 6 Conclusion References Dynamic Target Search of UAV Swarm Based on Improved Pigeon-Inspired Optimization 1 Introduction 2 Preliminaries 2.1 Problem Description 2.2 Coverage Distribution Map 2.3 Target Probability Map 2.4 Digital Pheromone Map 2.5 UAV Search Mission Optimization Model 3 Improved Pigeon-Inspired Optimization Algorithm 4 Simulation Results and Analysis 5 Conclusions References Similar Formation Problem with Biased Random Measurement Errors 1 Introduction 2 System Model 3 Improved Discrete-Time Similar Formation Algorithm 4 Globally Mean-Square Convergence of the Improved Discrete-Time Similar Formation Algorithm 5 Numerical Simulation 6 Conclusion References Distributed Switching Time Optimization for Interconnected Switched Systems 1 Introduction 2 Problem Statement 2.1 Switching Time Optimization for Switched Systems 2.2 Switching Time Optimization for Interconnected Switched Systems 3 Main Results 3.1 Distributed Switching Time Optimization via Dual Optimization 3.2 Distributed Switching Time Optimization via State Feedback Control 4 Conclusion References Cluster Consensus Based on Impulsive Control in Nonlinear Multi-agent System with Switching Topology 1 Introduction 2 Preliminary Knowledge and System Model 2.1 Graph Theory 2.2 Multi-agent System 2.3 Control Objective 3 Consensus Problems Based on Impulsive Mechanism with Switching Topology 4 Simulations 5 Conclusion References Trajectory Planning Technology of UAV Swarm Cooperative Stealth Based on Formation Control 1 Introduction 2 The Electromagnetic Scattering Model of UAV Swarm 3 Probabilistic Model of Radar Detection for UAV Swarm 4 Trajectory Planning Algorithm for UAV Swarm Cooperative Stealth 4.1 UAV Swarm Cooperative Stealth Algorithm for Each Trajectory Segment 4.2 Trajectory Planning Algorithm for UAV Swarm 5 Simulation and Analysis 5.1 Simulation and Analysis of UAV Swarm Trajectory Planning 5.2 Simulation and Analysis of Cooperative Stealth of UAV Swarm Formation 6 Conclusion References A Fast and Robust Multiple Individuals Tracking Algorithm Based on Artificial Neural Networks 1 Introduction 2 Materials and Method 2.1 The Proposed Detection and Tracking Method 2.2 Data Acquisition 2.3 Target Detection 2.4 Data Association 3 Results 3.1 Evaluation of Detection Performance 3.2 Evaluation of Tracking Performance 3.3 Evaluation of Efficiency 4 Conclusions References Leader-Follower Consensus of Second-Order Multi-agent Systems Based on Event-Triggered Sliding Mode Control 1 Introduction 2 Preliminaries and Problem Statement 2.1 Preliminaries 2.2 Problem Statements 3 Numerical Examples 4 Conclusion References Formation Reconfiguration Hovering Technique for Underactuated Satellite 1 Introduction 2 Preliminary 2.1 Dynamical and Controllability Analysis 2.2 Feasible Initial Position 3 Controller Design and Convergence Analysis 3.1 Closed-loop Controller 3.2 Convergence Analysis 4 Numerical Simulations 5 Conclusions References Cooperative Task Assignment and Path Planning via an A*-Market-Based Algorithm 1 Introduction 2 Problem Formulation 3 A*-Market-Based Design 3.1 Market-Based Task Allocation 3.2 A* Algorithm Path Planning 3.3 Cooperative Tasks 4 Experiment 4.1 Independent Welding Tasks 4.2 Cooperative Welding Tasks 5 Conclusion References An Improved Sequential Convex Programming Method for Spacecraft Swarm Reconfiguration 1 Introduction 2 Problem Formulation 2.1 The Swarm Reconfiguration Problem 2.2 The Convexification of Collision Avoidance Constraints 3 The Sequential Convex Programming 4 Numerical Simulations 5 Conclusion References Resilient Time-Varying Formation Control of Second-Order Discrete-Time Multi-agent Systems with Actuator Faults and Attacks on Communication Link 1 Introduction 2 Preliminaries and Problem Formulation 2.1 Basic Concepts of Graph Theory 2.2 Definition of Time-Varying Formation 2.3 Attack Model 2.4 Faults and Disturbances Model 3 Main Results 3.1 Overall Structure of the Proposed Approach 3.2 Formation Protocol for Target Observers 3.3 Actuator Fault Estimation and Compensation 4 Simulation 5 Conclusion References An Effective and Scalable Approach for Swarm-on-Swarm Air Combat Decision 1 Introduction 2 Preliminaries 2.1 Problem Statement 2.2 Aircraft Motion Model 2.3 Air Combat Situation 3 Swarm Target Assignment 4 Autonomous Air Combat Decision 5 Experiments 5.1 Comparison to Other Versions in Clustering Algorithms 5.2 Comparison to Other Algorithms in One-to-One Air Combat Domain 6 Conclusion References A Volume Compression Algorithm for Social Force Based Fish Swarm by Four Predators 1 Introduction 2 Task Description 3 Algorithm 4 Simulation 4.1 The Simulation of the Model of Fish 4.2 The Simulation of the Compression of Fish 5 Conclusions References Maximum-Relevance and Maximum-Complementarity Feature Selection with Random Forest 1 Introduction 2 The Information-Theoretical Framework for Feature Selection 2.1 The Relevant Information of Features 2.2 The Redundant Information Within Features 3 Maximum-Relevance and Maximum-Complementarity Feature Selection 3.1 The Complementary Information of Features 3.2 Maximum-Relevance and Maximum-Complementarity Based Feature Selection 3.3 Mining the Feature Complementarity with Random Forest 4 Experiment and Discussion 4.1 Datasets and Algorithms for Comparison 4.2 Evaluation Metrics 4.3 Results and Discussion 5 Conclusions References An Improved Distributed Optimization Algorithm over Unbalanced Directed Graph 1 Introduction 2 Graph Theory Foundation and Problem Description 3 Algorithm Design 4 Algorithm Convergence Analysis 5 Analysis of Convergence Results 6 Numerical Experiment 7 Conclusion References Cooperative Search-Track Mission Planning for Multi-UAV Based on a Distributed Approach in Uncertain Environment 1 Introduction 2 Problem 2.1 Uncertainty Map Model 2.2 Mission Model of UAVs 3 Approach 3.1 Design of Fitness Function 3.2 State Update Mechanism 4 Experiments 4.1 Task Scenario and Parameters 4.2 Search Efficiency Analysis 4.3 Task Allocation and Tracking Efficiency Analysis 5 Conclusion References PDE-ODE Based Consensus and Stability Control of Multi-agent System with Input Delay 1 Introduction 2 Modelling and Controlling 2.1 Modelling Multi-agent System by PDE-ODE 2.2 Controller Design 3 Numerical Simulation 4 Conclusion References Solving the Dynamic Sensor/Weapon-Target Assignment Problem by Generation Strategy Optimization 1 Introduction 2 DSWTA Problem Formulation 3 Generation Strategy Optimization 3.1 Solution Procedures and Constraints Handling 3.2 Algorithm Complexity Analysis 4 Experimental Studies 5 Conclusion References Multi-agent Reinforcement Learning for a Special Formation Problem 1 Introduction 2 Problem Modeling 2.1 UAVs Model 2.2 Target Position of Formation 2.3 Completion Standard 3 Related Algorithm Background 3.1 Policy Gradient (PG) Algorithm 3.2 DDPG Algorithm 3.3 MADDPG Algorithm 4 MF-DDPG 4.1 Mean Field DDPG 4.2 The Description of States and Action 4.3 Reward Function 5 Experimental Study 5.1 Training Parameters 5.2 Experimental Result and Analysis 6 Conclusions References Bipartite Consensus for Discrete-Time Signed Networks Subject to Saturation Constraints 1 Introduction 2 Preliminaries 3 Problem Statements 4 Main Results 5 Simulations 6 Conclusions References A Fish Swarm Model Based on Neighbor and Leader-Follower 1 Introduction 2 Methods 2.1 Couzin's Model 2.2 Individual Direction Updating Rule Based on Number of Neighbors 2.3 Leader-Follower Individual Direction Updating Rule Based on Social Information 3 Experiments and Results 3.1 Environment 3.2 Quantitative Performance 3.3 Results 4 Conclusions References Artificial Intelligence-Assisted Spacecraft Swarm Reconfiguration Planning 1 Introduction 2 Neural Network Structure Design and Training Method 2.1 Structure Design of the BP Neural Network 2.2 Neural Network Training for Collision Evaluation 2.3 Neural Network Training for Collision Area Recognition 3 Neural Network-Assisted Large-Scale Swarm Reconfiguration Planning Method 4 Numerical Simulation 5 Conclusion References Fully Distributed Nash Equilibrium Seeking Algorithm with Quantization Effects in a Directed Graph 1 Introduction 2 Problem State 3 Algorithm Design 3.1 Quantization Scheme Design 3.2 Distributed and Quantized Algorithm Design 4 Simulation 5 Conclusions 6 Appendix References A Fusion Method of 3D Object Detection Graph Neural Network Based on Local and Global Data Augmentation 1 Introduction 2 Related Works 3 Proposed Method 3.1 Self-adaptive Multi-scale Voxel Downsampling Method 3.2 Multi-step Graph Construction 3.3 Fusion of the Self-attention and Visibility Feature 4 Experiments 4.1 Data Augmentation 4.2 Implementation Details 4.3 Ablation Study 4.4 Results 5 Conclusion References A P2P Based Energy Trading Approach 1 Introduction 2 Problem Formulation 2.1 System Model 2.2 Optimization Problem Formulation 2.3 Determination of the Optimal Strategy 3 P2P Trading Mechanism 4 Simulation Studies 4.1 Simulation Setup 4.2 Simulation Results 5 Conclusion References Adaptive Resilient Formation for Multi-agent Systems Subject to Cyber Attacks 1 Introduction 2 Preliminaries 2.1 Graph Theory 2.2 System Description 2.3 Attacks Description 3 Formation Protocol 4 Stability Analysis 5 Analysis of Simulation Results 6 Conclusion References Cooperative Path Planning Algorithm of UAV in Urban Environment Based on Improved Pigeon Swarm Algorithm 1 Introduction 2 Cooperative Path Planning Method Based on Cauchy Mutation Pigeon Swarm Intelligence Algorithm (ECM-PIO) 2.1 Geomagnetic Optimization Stage with Cauchy Mutation Operator 2.2 Landmark Optimization Stage with Cauchy Mutation Operator 2.3 ECM-PIO Process Including Path Smoothing 3 Selection Method of Cooperative Path in Complex Environment 3.1 Single Path Evaluation Function 3.2 Multi UAV Cooperative Path Evaluation Method 3.3 Dynamic Response Mechanism in Emergency 4 Simulation Results and Analysis 5 Conclusion References Hierarchical Formation by the Cooperative Output Regulation Approach 1 Introduction 2 Problem Formation 3 Main Result 4 Example 5 Conclusion References Collision-Free Formation Control for Multiple Quadrotors Subject to Switching Topologies 1 Introduction 2 Problems Statement 3 Formation Control and Collision Avoidance Mechanism Design 3.1 Formation Control Protocol 3.2 Collision Avoidance Mechanism 4 Simulation and Flight Experiment 5 Conclusion References Robust Fault-Tolerant Formation Control for Multiple UAVs Under Bounded Actuator Faults 1 Introduction 2 RUAV Dynamic Model and Analysis 3 Robust Fault-Tolerant Formation Control 3.1 Outer-Loop Formation Guidance 3.2 Inner-Loop Robust FTC 4 Simulation Validation 5 Conclusion References Collaborative Perception for Autonomous Driving: Current Status and Future Trend 1 Introduction and Motivation 2 Collaboration Mode: When and What to Collaboration 2.1 Early Collaboration 2.2 Late Collaboration 2.3 Intermediate Collaboration 2.4 Mixed Collaboration 3 Key Ingredients of Collaborative Perception Technology 3.1 Collaboration Graph 3.2 Pose Alignment 3.3 Information Fusion 3.4 Resource Allocation with Reinforcement Learning 4 Applications of Collaborative Perception 4.1 Collaborative 3D Object Detection 4.2 Collaborative Semantic Segmentation of 3D Scenes 5 Open Challenges and Issues 5.1 Communication Robustness 5.2 Heterogeneous and Cross-Modality 5.3 Large-Scale Dataset 6 Conclusion References Observer-Based Leader-Following Consensus of Heterogeneous Multi-agent Systems with Intermittent Communication 1 Introduction 2 Preliminaries and Problem Formulation 2.1 Graph Theory 2.2 Problem Statement 3 Main Results 3.1 Distributed Observer Design 3.2 Observer-Based Consensus Controller Design 4 Simulation Example 5 Conclusion References A Self-organized Circular Formation Algorithm for Planar Robot Swarm 1 Introduction 2 Problem Formulation 3 Algorithm 4 Simulation References Multi-target Capturing Algorithm of Multiple Robots in Dynamic Environment 1 Introduction 2 Improvement of Artificial Potential Field Method 2.1 Motion Model Analysis 2.2 Improvement of Traditional Artificial Potential Field Method 3 Rounding up Process Analysis 3.1 Multi-robot Grouping 3.2 Target Round Up in Group 4 Simulation Results 4.1 Simulation of Artificial Potential Field Method in Dynamic Environment 4.2 Simulation Process on MobileSim Platform 5 Conclusion References Distributed Coordinated Robust Optimal Scheduling of Multi-EH-Based Integrated Energy System 1 Introduction 2 Problem Formulation 2.1 Objective Function of IES 2.2 Constraints of IES 3 Distributed and Robust Methods 3.1 Two Stage Robust Optimization Model 3.2 Distributed Optimization Model 3.3 Solving Procedure 4 Case Study 4.1 Experimental Data Setting 4.2 Performance of TRO Scheduling Strategy 4.3 Effectiveness of Distributed Optimal Scheduling Strategy 5 Conclusion References Intelligent Decision-Making Method for On-Orbit Service with Multiple Geosynchronous Earth Orbit Targets Based on Reinforcement Learning 1 Introduction 2 Problem Formulation 3 Offline Orbit Optimization and Fitting Based on RBFNN 3.1 Transfer Orbit Designed by Solving Lambert Problem 3.2 Transfer Orbit Optimization 3.3 Optimal Transfer Orbit Fitting by RBFNN 4 Intelligent Online Decision-Making Based on Reinforcement Learning 4.1 Online Decision-Making Problem Formulation 4.2 Online Decision-Making Optimization Based on Q-learning 5 Simulation Analyse 5.1 Offline Orbit Optimization and Fitting 5.2 Online Intelligent Decision-Making 6 Conclusion References Cluster Evaluation Method Based on Multi-agent Deduction and Complex Network Technology 1 Introduction 2 Overview of Multi-agent Simulation Modeling Methods 2.1 Essential Components of Multi-agent Modeling 2.2 Cluster and Multi-agent Model 3 Overview of Complex Network Assessment Methods 3.1 The Complex Network Modeling Method 3.2 Complex Network Evaluation Indicators 4 Complex Network Evaluation Process Based on Multi-agent Simulation 5 Case Study 6 Summary References Differentially Private Distributed Online Linear Regression over a Time-Varying Network 1 Introduction 2 Problem Setting and Algorithm Description 3 Main Results 4 Simulation 5 Conclusions References Cooperative Localization Algorithm of Multiple Spacecraft with Angle-Only Measurements 1 Introduction 2 Problem Statement 2.1 State Equation 2.2 Measurement Equation 3 Positioning Algorithm Based on Geometric Characteristics 3.1 Three Points Positioning Method Based on Angle and Distance 3.2 Cubature Kalman Filtering Algorithm 4 Simulation Result 5 Conclusion References Discover Causality of Battlefield Sequential Events Based on THPM Algorithm 1 Introduction 2 Preliminary and Problem Formalization 2.1 Hawkes Process 2.2 Graph Convolution 2.3 Problem Formalization 3 Experiments 3.1 Datasets 3.2 Flowchart of Prediction Experiment 3.3 Experiment Results 4 Conclusion References Multi-target Passive Localization Algorithm Based on UAV Clusters 1 Introduction 2 The Passive Localization Mechanism of a Single Target by a UAV Cluster 2.1 Scene Model 2.2 Principle of PLE Method 2.3 Principle of WPLE Method 2.4 Principle of MLE Method 2.5 Cramer-Rao Lower Bound Calculation 3 Resource Allocation Method Based on Greedy Algorithm 4 Passive Localization Algorithm Flow of UAV Clusters for Multi-target 5 Simulation Result Analysis 5.1 System Performance Analysis 5.2 Performance Comparison of Different Passive Localization Methods 6 Conclusion References Research on Cluster Network Scheduling Mechanism Based on TDMA-MDGP 1 Introduction 2 Synergy Between Polling Data Frames and Non-polling Data Frames 2.1 Synergy Between Polling Data Frames and Non-polling Data Frames 2.2 Slot Scheduling Period of Unmanned Combat Cluster 2.3 Selection of Communication Full-Slot Scheduling Period 3 Node-Oriented Hybrid Slot Allocation Algorithm 3.1 Node Control Mechanism 3.2 Algorithm Performance Analysis 4 Conclusion References Optimal Hybrid Attacks Scheduling on Remote State Estimation with Energy Constraint 1 Introduction 2 Problem Formulation 2.1 System Model 2.2 Attack Strategy 2.3 Problems of Interest 3 Optimal Hybrid Attacks Schedules Analysis 3.1 Preliminaries 3.2 Optimal Hybrid Attacks Scheduling 4 Simulations 5 Conclusion References Quasi-Synchronization of Heterogeneous Harmonic Oscillator Networks via Event-Triggered Control 1 Introduction 2 Preliminaries 2.1 Notations 2.2 Graph Theory 2.3 Related Lemmas 3 Problem Formulations 4 Main Results 5 Simulations 6 Conclusions References Formation Control of Multi-robots Using Backstepping Sliding Mode Control 1 Introduction 2 Modeling 3 Control Design 4 Simulation Results 4.1 Topological Graph 4.2 Case 1: Circular Formation 4.3 Case 2: Curvilinear Formation 5 Conclusion References Effectiveness Evaluation Method of the Unmanned Aerial Vehicle Swarm Considering Mission Process 1 Introduction 2 Establishment of Effectiveness Indicators System 2.1 Establishment of Indicators System Framework 2.2 Selection of the UAV Swarm Effectiveness Indicators 3 Complex Network Modeling by Considering Effectiveness 3.1 Modeling Method Based on Mission Process 3.2 Modeling Method by Considering Single-Item Effectiveness 4 Effectiveness Evaluation Method 4.1 Single-Item Effectiveness Evaluation 4.2 Emerging Effectiveness Evaluation 4.3 Mission Effectiveness Evaluation 5 Case Study 5.1 Model Description 5.2 Effectiveness Indicators Configuration 5.3 Effectiveness Evaluation 6 Conclusions and Future Work References Privacy-Preserving Nash Equilibrium Seeking Algorithm over Directed Graph 1 Introduction 2 Setup and Preliminaries 2.1 The Game 2.2 Graph Description 2.3 Differential Privacy 2.4 Partial-Decision Information Setting 3 Privacy Preserving Distributed Nash Equilibrium Seeking Under Partial-Decision Information 4 Numerical Result 4.1 Convergence Analysis 4.2 Differential Privacy 5 Conclusions References Sliding Mode Attitude Control for a QUAV Based on a Nonlinear Disturbance Observer 1 Introduction 2 Problem Description and Preliminaries 3 Robust Attitude Tracking Control Based on the Disturbance Observe 3.1 The Design of Second Order Disturbance Observer 3.2 The Design of Attitude Controller 3.3 Stability Analysis 4 Simulations and Experimental Results 4.1 Simulations 4.2 Flight Experiment 5 Conclusion References Composite Anti-disturbance Tracking Control for Unmanned Autonomous Helicopter Using Neural Network and Extended State Observer 1 Introduction 2 Problem Description and Preparation 3 Composite Anti-disturbance Control Design and Stability Analysis 3.1 The Design of ESO 3.2 NN-Based Robust Tracking Control Design 3.3 Stability Analysis 4 Simulation Study 5 Conclusion References A Cooperative Search Method for Multiple UAVs in a Complex Environment with No-Fly Zone Areas 1 Introduction 2 Problem Description 2.1 UAV Movement Model 2.2 Forces Applied on UAV 2.3 Search Area Division for UAVs 3 Improvement to the Artificial Potential