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学者姓名：李东方
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小样本语义分割旨在通过少量标注样本实现新类别的精准分割,但现有方法因特征压缩导致的空间信息丢失、跨尺度对齐偏差及背景干扰等问题限制了其性能.为此,提出了一种基于多层多尺度查询-支持点积注意力的小样本语义分割框架.首先,支持图像和查询图像通过多尺度特征提取模块,从主干网络中提取多尺度特征.接着,利用Transformer的缩放点积注意力机制,充分挖掘支持图像中前景与背景像素的信息.最后,通过跳跃连接将多尺度特征与中间掩码进行融合,逐步细化分割边界.该模型在PASCAL-5i数据集上进行了实验,在1-shot设定下取得了62.1%的平均交并比和73.6%的前景-背景交并比,验证了方法的有效性.
Keyword ：
PASCAL-5i数据集 PASCAL-5i数据集 Transformer架构 Transformer架构 多层多尺度特征融合 多层多尺度特征融合 小样本 小样本 缩放点积注意力 缩放点积注意力 语义分割 语义分割
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| GB/T 7714 | 苏棋 , 吴宏亮 , 黄思恺 et al. 多尺度查询-支持注意力的小样本语义分割 [J]. | 无人系统技术 , 2025 , 8 (2) : 91-99 . |
| MLA | 苏棋 et al. "多尺度查询-支持注意力的小样本语义分割" . | 无人系统技术 8 . 2 (2025) : 91-99 . |
| APA | 苏棋 , 吴宏亮 , 黄思恺 , 李洋 , 李东方 . 多尺度查询-支持注意力的小样本语义分割 . | 无人系统技术 , 2025 , 8 (2) , 91-99 . |
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This work reports a terrain perception and stiffness adaptive control scheme with no vision. This strategy can enable quadruped robots to operate in a stable posture in unstructured geographic environments. We design a terrain perception controller using Kalman filtering observation technology to accurately estimate the robot's speed, position, and attitude variables. The compensation effect of estimations can provide real-time prediction of the external conditions, suppressing the body's high-frequency jitter in fluctuating terrain and improving anti-interference ability. Yet, a stiffness adaptive controller using impedance theory decreases the actuator's torque deviation and improves the robot's dynamic stability by solving the optimal stiffness change law. The Lyapunov approach proves the stability of the system. In comparative simulations, the proposed method is evaluated against the MIT strategy. Results show that while the MIT method exhibits rapid convergence and effectively reduces initial Euler angle fluctuations, it also introduces increased oscillations during the transient phase. Simulation results and hardware experiments illustrate that the proposed method effectively enhances the robot's terrain adaptability and motion smoothness.
Keyword ：
Adaptation models Adaptation models Attitude control Attitude control Impedance Impedance Kalman filter observer Kalman filter observer Kalman filters Kalman filters Legged locomotion Legged locomotion Quadrupedal robots Quadrupedal robots quadruped robot quadruped robot Quaternions Quaternions Robots Robots Stability criteria Stability criteria stiffness adaptive stiffness adaptive terrain perception terrain perception Torque Torque
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| GB/T 7714 | Huang, Yanwei , Li, Yijun , Liu, Guanghong et al. Terrain Perception and Stiffness Adaptation-Based Attitude Control for Quadruped Robots [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
| MLA | Huang, Yanwei et al. "Terrain Perception and Stiffness Adaptation-Based Attitude Control for Quadruped Robots" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2025) . |
| APA | Huang, Yanwei , Li, Yijun , Liu, Guanghong , Li, Dongfang , Rob, Law , Zhu, Limin et al. Terrain Perception and Stiffness Adaptation-Based Attitude Control for Quadruped Robots . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
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This work proposes a synchronous obstacle avoidance tracking control framework with state constraints and interference compensation to achieve autonomous obstacle avoidance and track reference paths for snake robots. In the kinematic, an improved robust line-of-sight (LOS) strategy based on reduced-order extended state observer is proposed. The sideslip angle estimation compensates for the deviation of the direction angle, thereby ensuring the accuracy of direction commands. Meanwhile, considering obstacle avoidance and non-differentiable inflection points of fold paths, a virtual dynamic guidance rule is designed to generate smooth references, which reduces the computational load of an actual robot turning and obstacle avoidance processes. In the dynamic, a barrier Lyapunov-based neural network robust controller is derived to cope with state constraints caused by actuator saturation. The adaptive law of dynamic deviation and external interference compensates for joint torque. Robots' autonomous obstacle avoidance ability and the superiority of the proposed method are demonstrated through experiments.
Keyword ：
Collision avoidance Collision avoidance Dynamics Dynamics Interference Interference Interference compensation Interference compensation obstacle avoidance obstacle avoidance Planning Planning Robot kinematics Robot kinematics Robots Robots snake robot snake robot Snake robots Snake robots state constraints state constraints tracking control tracking control Trajectory Trajectory Trajectory tracking Trajectory tracking Vectors Vectors
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| GB/T 7714 | Li, Dongfang , Wu, Chushuo , Liu, Guanghong et al. Synchronous Obstacle Avoidance Tracking Control Scheme for Snake Robots With State Constraints and Interference Compensation [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2025 . |
| MLA | Li, Dongfang et al. "Synchronous Obstacle Avoidance Tracking Control Scheme for Snake Robots With State Constraints and Interference Compensation" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2025) . |
| APA | Li, Dongfang , Wu, Chushuo , Liu, Guanghong , Zhu, Limin , Wu, Edmond Q. . Synchronous Obstacle Avoidance Tracking Control Scheme for Snake Robots With State Constraints and Interference Compensation . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2025 . |
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The control of shipborne wave compensation Stewart-Gough platform (SGP) is affected by a variety of interferences. This study proposes a composite control scheme based on inverse dynamics control (IDC) to suppress multiple disturbances experienced by the shipborne SGP. A comprehensive system dynamic model is established. Primary potential disturbances are classified, and the corresponding suppression strategies are proposed. A robust term is added to the normal IDC to overcome the model parameter uncertainty, meeting the desired performance with internal parameter uncertainty. An equivalent input disturbance (EID) approach is introduced to resist the unknown external disturbances based on the robust feedback control. A Kalman filter is integrated to construct the Optimal EID to suppress the destructive effect of sensor noise on disturbance estimation, improving the accuracy of external disturbance estimation. The stability of the closed-loop controller is analyzed. Experimental results demonstrate that the proposed scheme exhibits superior resilience to internal and external disturbances compared with several conventional approaches.
Keyword ：
Inverse dynamics control (IDC) Inverse dynamics control (IDC) noninertial frame noninertial frame optimal estimation optimal estimation parallel mechanism parallel mechanism wave compensation wave compensation
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| GB/T 7714 | Chen, Weixing , Lin, Chaoxiong , Zhou, Songlin et al. Dynamic Modeling and Robust Inverse Dynamics Control Enhanced by Optimal Equivalent Input Disturbance for a Shipborne Wave Compensation Hexapod Platform [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
| MLA | Chen, Weixing et al. "Dynamic Modeling and Robust Inverse Dynamics Control Enhanced by Optimal Equivalent Input Disturbance for a Shipborne Wave Compensation Hexapod Platform" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2025) . |
| APA | Chen, Weixing , Lin, Chaoxiong , Zhou, Songlin , Zhao, Xianchao , Li, Dongfang , Wu, Edmond Q. et al. Dynamic Modeling and Robust Inverse Dynamics Control Enhanced by Optimal Equivalent Input Disturbance for a Shipborne Wave Compensation Hexapod Platform . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
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This article addresses the cooperative control of behavior-based nonholonomic mobile vehicles (NMVs). Null-space-based behavioral control (NSBC) has limitations in the particle model and mission centralization. A novel underactuated reinforcement learning behavioral control (URLBC) approach is proposed in this article to address these limitations. An underactuated mission paradigm is prepared to replace the particle model and prevent nonholonomic constraint violations of the behavioral command. Subsequently, a distributed reinforcement learning mission supervisor is developed to determine behavioral priorities without any centralized unit, intelligently generating behavioral commands while achieving expected priority switching. Furthermore, an identifier–actor–critic behavioral controller is formulated to track behavioral commands without exact models, thus effectively reducing control costs and model dependencies. Simulation shows that URLBC has fewer unsatisfactory priority switching instances and lower cumulative control costs than existing NSBC methods. URLBC is implemented on JetAuto robots to validate its practicality. © 1982-2012 IEEE.
Keyword ：
Behavioral control Behavioral control distributed formation distributed formation nonholonomic mobile vehicles nonholonomic mobile vehicles reinforcement learning reinforcement learning
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| GB/T 7714 | Zhang, Z. , Dai, J. , Li, D. et al. Cooperative Behavior-Based Reinforcement Learning Control With Vehicles [J]. | IEEE Transactions on Industrial Electronics , 2025 . |
| MLA | Zhang, Z. et al. "Cooperative Behavior-Based Reinforcement Learning Control With Vehicles" . | IEEE Transactions on Industrial Electronics (2025) . |
| APA | Zhang, Z. , Dai, J. , Li, D. , Liu, G. , Xu, X. , Wu, E.Q. . Cooperative Behavior-Based Reinforcement Learning Control With Vehicles . | IEEE Transactions on Industrial Electronics , 2025 . |
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This article proposes a robotic fish formation control scheme that is based on finite-time terminal sliding mode to achieve coordinated tracking of multiple target paths under external disturbances and internal parameter perturbations. The method explores the lateral sliding mechanism of each body in the surge and sway directions by constructing a directional compensation guidance strategy that is based on a finite-time disturbance observer, thus enabling the precise coordinated movement of multiple robotic fish. Furthermore, this article acknowledges that the highly coupled dynamics of the robotic fish are susceptible to external environmental influences and modeling accuracy. Hence, a rapid global terminal sliding mode fuzzy controller that considers tangential displacement is introduced, and fuzzy adaptive methods are utilized to fit complex uncertainties. This approach mitigates the chattering problems commonly associated with traditional sliding mode control and enhances the error convergence speed and accuracy of the robotic fish formation system.
Keyword ：
Accuracy Accuracy Biomimetics Biomimetics Convergence Convergence Damping Damping Finite-time system Finite-time system Fish Fish formation control formation control Formation control Formation control Interference Interference Mathematical models Mathematical models robotic fish robotic fish Robot kinematics Robot kinematics Robots Robots terminal sliding mode control terminal sliding mode control
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| GB/T 7714 | Li, Dongfang , Sun, Yuxiang , Zeng, Linlin et al. Finite-Time Terminal Sliding Mode-Based Formation Control Scheme for a Robotic Fish [J]. | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS , 2025 . |
| MLA | Li, Dongfang et al. "Finite-Time Terminal Sliding Mode-Based Formation Control Scheme for a Robotic Fish" . | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2025) . |
| APA | Li, Dongfang , Sun, Yuxiang , Zeng, Linlin , Law, Rob , Xu, Yuanqing , Wu, Edmond Q. et al. Finite-Time Terminal Sliding Mode-Based Formation Control Scheme for a Robotic Fish . | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS , 2025 . |
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A path-following control scheme is proposed using finite-time convergence line-of-sight (FCL) to achieve rapid convergence of position errors for an unmanned surface vehicle (USV). FCL combines classical line-of-sight (LOS) guidance with finite-time stability theory to ensure that the position of the USV converges to the reference path within a predetermined finite time. Specifically, a USV model is developed to analyze target tracking. Moreover, a novel cross-tracking error function is designed with hyperbolic characteristics for FCL through an analysis of the relationship between convergence speed and cross-tracking error function. Further, the path-following system stability with FCL and finite-time controllers is analyzed to indicate the smaller value of the upper bound of the system convergence time by comparisons. Finally, simulations and experiments are performed to verify that FCL has a faster convergence speed than the LOS with error sign function (LS) and the linear cross-tracking error function (LLCF), and a wider algorithm parameter tuning range compared to LS.
Keyword ：
Accuracy Accuracy Autonomous vehicles Autonomous vehicles Control systems Control systems Convergence Convergence Convergence speed Convergence speed hyperbolic characteristics hyperbolic characteristics line-of-sight (LOS) guidance law line-of-sight (LOS) guidance law Line-of-sight propagation Line-of-sight propagation Neural networks Neural networks path following path following Stability criteria Stability criteria Surges Surges Target tracking Target tracking unmanned surface vehicle (USV) unmanned surface vehicle (USV) Vehicle dynamics Vehicle dynamics
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| GB/T 7714 | Huang, Yanwei , Lai, Guozhen , Lin, Feng et al. Path Following With Finite-Time Convergence for Unmanned Surface Vehicle [J]. | IEEE JOURNAL OF OCEANIC ENGINEERING , 2025 , 50 (2) : 1153-1164 . |
| MLA | Huang, Yanwei et al. "Path Following With Finite-Time Convergence for Unmanned Surface Vehicle" . | IEEE JOURNAL OF OCEANIC ENGINEERING 50 . 2 (2025) : 1153-1164 . |
| APA | Huang, Yanwei , Lai, Guozhen , Lin, Feng , Shi, Xiaocheng , Li, Dongfang . Path Following With Finite-Time Convergence for Unmanned Surface Vehicle . | IEEE JOURNAL OF OCEANIC ENGINEERING , 2025 , 50 (2) , 1153-1164 . |
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This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking accuracy. Moreover, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.
Keyword ：
Adaptive integral surge line-of-sight Adaptive integral surge line-of-sight approximation approximation robotic fish robotic fish speed observer speed observer
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| GB/T 7714 | Li, Dongfang , Huang, Jie , Law, Rob et al. Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes [J]. | IEEE-CAA JOURNAL OF AUTOMATICA SINICA , 2025 , 12 (1) : 126-137 . |
| MLA | Li, Dongfang et al. "Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes" . | IEEE-CAA JOURNAL OF AUTOMATICA SINICA 12 . 1 (2025) : 126-137 . |
| APA | Li, Dongfang , Huang, Jie , Law, Rob , Xu, Xin , Zhu, Limin , Wu, Edmond Q. . Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes . | IEEE-CAA JOURNAL OF AUTOMATICA SINICA , 2025 , 12 (1) , 126-137 . |
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This paper proposes a leader-follower control method for multiple snake robot formation. Based on the simplified snake robot model, this work improves the traditional Serpenoid gait mode to a time-varying frequency form. Combined with the line-of-sight (LOS) method, a snake robot trajectory tracking controller is designed to enable the leader to track the desired trajectory at the ideal velocity. Then, the leader-follower following error system of a snake robot formation is established. In this framework, the follower can maintain a preset geometric position relationship with the leader to ensure the fast convergence of the formation location. Lyapunov's theory proves the stability of a snake robot formation error. Simulation and experimental results show that this strategy has the advantages of faster convergence speed and higher tracking accuracy than other current methods.
Keyword ：
Formation control Formation control Leader-follower Leader-follower Snake robot Snake robot Trajectory tracking Trajectory tracking
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| GB/T 7714 | Wang, Wu , Du, Zhihang , Li, Dongfang et al. Leader-follower method-based formation control for snake robots [J]. | ISA TRANSACTIONS , 2025 , 156 : 609-619 . |
| MLA | Wang, Wu et al. "Leader-follower method-based formation control for snake robots" . | ISA TRANSACTIONS 156 (2025) : 609-619 . |
| APA | Wang, Wu , Du, Zhihang , Li, Dongfang , Huang, Jie . Leader-follower method-based formation control for snake robots . | ISA TRANSACTIONS , 2025 , 156 , 609-619 . |
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Snake robots under environments with avoidance constraints hardly track routes such that traditional guidance approaches become infeasible. Motivated by it, this work presents a line-of-sight-guidance virtual-snake-robot integrated scheme for snake robots to track paths and obey collision avoidance regulations. Main contributions include the avoidance regulation-compliant kinematics guidance law and finite-time-converged adaptive dynamic controller. In kinematics, a virtual leader is used to optimize nondifferentiable inflection into smooth to provide a jitter-free direction. Considering avoidance constraints, corresponding guidance strategies are innovatively designed for head-on, overtaking, and crossing scenarios to ensure the safety and autonomy of path tracking. In terms of dynamics, maneuvering control is executed by a finite-time disturbance observer-based event-triggered terminal sliding-mode controller. The unmeasured errors and uncertainties are accurately compensated, and input event-triggering rules can reduce the actuator burden. Finally, the stability analysis proves system errors' finite-time convergence, and result validations confirm the performance superiority and feasibility of this method.
Keyword ：
Collision avoidance Collision avoidance guidance algorithm guidance algorithm Marine vehicles Marine vehicles path following path following Regulation Regulation Robots Robots snake robot snake robot Snake robots Snake robots Turning Turning Vehicle dynamics Vehicle dynamics
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| GB/T 7714 | Xiu, Yang , Deng, Hongbin , Li, Dongfang et al. Collision Avoidance Regulation-Compliant Orientation Guidance and Maneuvering Control Approach for Snake Robots [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (9) : 10955-10965 . |
| MLA | Xiu, Yang et al. "Collision Avoidance Regulation-Compliant Orientation Guidance and Maneuvering Control Approach for Snake Robots" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 71 . 9 (2024) : 10955-10965 . |
| APA | Xiu, Yang , Deng, Hongbin , Li, Dongfang , Law, Rob , Wu, Edmond Q. , Zhu, Limin . Collision Avoidance Regulation-Compliant Orientation Guidance and Maneuvering Control Approach for Snake Robots . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (9) , 10955-10965 . |
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