Cooperative Exploration Research Articles

Enhancing Cooperative Exploration and Planning: UAV-Legged Robot Synergy

Enhancing Cooperative Exploration and Planning: UAV-Legged Robot Synergy

A review of coordinated multi-robot exploration

Abstract A multiple robots system provides advantages over a single robot when it comes to exploring an unfamiliar area. Due to its applications in localization and mapping, search and rescue, etc. This technology has attracted a lot of study interest. The main challenge is properly distributing target points among several robots so that they can each investigate a separate section of the environment simultaneously and ensure the shortest possible total exploration time. However, more work still needs to be done to incorporate research issues in a real setting, such as how to eliminate duplicate exploration areas by giving robots multiple target locations or how to avoid unanticipated barriers in new situations. The allocation algorithms, motion planning techniques, and exploration strategies used in multi-robot collaboration (CME) are reviewed in this paper. Additionally, it provides an explanation of the methods research teams employ to optimize traditional whale optimization algorithm (WOA), how they enhance exploration performance and speed, and a comparative analysis of these methods. We also discussed a cooperative exploration method based on dynamic Voronoi partitioning. However, we also need some obstacle avoidance algorithms to help understand the gaps and issues that will need to be solved in the upcoming years, namely how to handle unexpected impediments in unfamiliar surroundings. Lastly, a summary of potential future lines of inquiry and uses is given.

Cooperative exploration model of coal–Ge deposit: A case study of the Wulantuga coal–Ge deposit in Shengli coalfield, Inner Mongolia, China

Germanium (Ge) is an excellent organophilic and dispersed semiconductor resource, which is irreplaceable in emerging industries such as new materials, new energy, aerospace, industrial smelting, national defense, military industry, and modern information technology, it has become an important direction of mineral resources exploration. Therefore, it is urgent to carry out research on the collaborative exploration model of coal and Ge deposits from a technical and economic perspective to lay a theoretical foundation for the collaborative exploration of coal and Ge. In this study, the Wulantuga coal–Ge deposit is taken as an example, according to the distribution characteristics of coal–Ge deposit and the response effect to the exploration technical means, the economical and effective exploration technical means, reasonable exploration project layout and resource estimation parameters of coal–Ge deposit are put forward, and the cooperative exploration mode of coal–Ge deposit is determined, it provides an important scientific basis for improving the strategic coordination ability of Ge mineral resources.

Finite-Time Fault-Tolerant Formation Control for Distributed Multi-Vehicle Networks With Bearing Measurements

This paper addresses a bearing-only formation tracking problem in robotic networks by considering exogenous disturbances and actuator faults. In contrast to traditional position-based coordination strategies, the bearing-only coordinated movements of the unmanned vehicles only rely on the neighboring bearing information. This feature can be utilized to reduce the sensing requirements in the hardware implementation. A gradient-descent protocol is first developed to achieve the desired coordination within a prespecified settling time, where the unknown disturbances are considered in the vehicle dynamics, then the bound of formation tracking error is guaranteed by the Lyapunov approach. In case of damage to the actuators (e.g., motors) in some of the vehicles during the task, fault-tolerant analysis of the proposed controller is provided to ensure the success of the task in extreme environments. Furthermore, the proposed bearing-based method is extended to deal with general linear systems, which can be applied to a wider range of robotic platforms. Finally, numerical simulations and lab-based experiments using unmanned ground vehicles are conducted to validate the effectiveness of the proposed strategy. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —The aim of this paper is to develop and design a practical bearing-only formation control approach for multi-vehicle systems. Many real-world complex tasks can be solved by multiple unmanned aerial and ground vehicles being connected by a communication network. This paper has proposed a formation tracking scheme for networked multi-vehicle systems that only relies on the relative bearing information of the neighboring vehicles. Closed-loop stability of the scheme and finite-time convergence of the tracking error have been established using the Lyapunov stability approach. The proposed method ensures the robustness and fault-tolerance of the multi-vehicle system against hardware faults or exogenous disturbances. A systematic set of guidelines on how to apply the proposed strategy in practice is also provided for the control practitioners in the form of an algorithm. In order to demonstrate the feasibility and usefulness of the proposed coordination scheme, numerical simulations and lab-based hardware experiments were conducted. Potential applications of the proposed scheme include search and rescue, security surveillance and cooperative exploration.

Occurrence of State of Gold in Crude Oil and Its Economic Significance

Gold and petroleum are also strategic resources of great importance to national security. With the increasing demand for energy, multi-energy cooperative exploration has become an inevitable trend of resource development and utilization. Petroleum and hydrothermal gold deposits may form together, with similar evolutionary trends in their formation, migration, and enrichment. Petroleum reservoirs and gold deposits are closely coupled under certain geological conditions. The solubility of gold in crude oil and its forms of occurrence are important in determining the mechanisms of interaction between gold and petroleum and in facilitating the recovery of gold from gold-bearing petroleum. In this study, the occurrence of gold in crude oil from the Linnan Depression in the Bohai Bay Basin, China, was studied using inductively coupled plasma–mass spectrometry and X-ray photoelectron spectroscopy. Concentrations of gold in crude oil from the Linpan and Shanghe oilfields averaged 44.5 ppb, which is well above the minimum concentration required for hydrothermal gold mineralization. Gold has an affinity with carbon, oxygen, and sulfur, and its concentration in crude oil is positively correlated with total acid and sulfur contents. We speculate that gold may exist in crude oil as complexes with organic acids or thiols, with crude oil thus being a transport medium for gold.

Multi-agent Continuous Control with Generative Flow Networks

Generative Flow Networks (GFlowNets) aim to generate diverse trajectories from a distribution in which the final states of the trajectories are proportional to the reward, serving as a powerful alternative to reinforcement learning for exploratory control tasks. However, the individual-flow matching constraint in GFlowNets limits their applications for multi-agent systems, especially continuous joint-control problems. In this paper, we propose a novel Multi-Agent generative Continuous Flow Networks (MACFN) method to enable multiple agents to perform cooperative exploration for various compositional continuous objects. Technically, MACFN trains decentralized individual-flow-based policies in a centralized global-flow-based matching fashion. During centralized training, MACFN introduces a continuous flow decomposition network to deduce the flow contributions of each agent in the presence of only global rewards. Then agents can deliver actions solely based on their assigned local flow in a decentralized way, forming a joint policy distribution proportional to the rewards. To guarantee the expressiveness of continuous flow decomposition, we theoretically derive a consistency condition on the decomposition network. Experimental results demonstrate that the proposed method yields results superior to the state-of-the-art counterparts and better exploration capability. Our code is available at https://github.com/isluoshuang/MACFN.

A Large-Scale Multi-Agent Deep Reinforcement Learning Method for Cooperative Output Voltage Control of PEMFCs

To increase the output voltage stability and improve the operating efficiency of proton exchange membrane fuel cells (PEMFCs), a data-driven cooperative method for controlling the PEMFC output voltage is proposed in this paper. The proposed method adapts centralized learning and decentralized implementation, which can nonlinearly and adaptively realize optimal coordinated control over the hydrogen valve and the DC/DC converter. Additionally, a champion multiagent double delay deep deterministic policy gradient (CMA-4DPG) algorithm is proposed in this method, the design of which incorporates the policies of the champion selection mechanism, cooperative exploration, imitation learning guidance and curriculum guidance to improve the robustness of the cooperative method. The method cooperates with multiple controller to prevent output voltage fluctuation. The experimental results show that by simultaneously regulating the hydrogen flow through the hydrogen valve and the duty ratio of the DC/DC converter, the proposed method achieves better robustness and can improve the tracking performance of the PEMFC output voltage.

Cooperative Exploration Model of Coal–Lithium Deposit: A Case Study of the Haerwusu Coal–Lithium Deposit in the Jungar Coalfield, Inner Mongolia, Northern China

Lithium (Li) is an important strategic metal mineral resource, irreplaceable in the fields of modern industry, new energy technology, nuclear fusion, and energy storage devices. Li is an important supplement to traditional strategic metal mineral resources and has become an important avenue of mineral resource exploration. Therefore, there is an urgent need to establish a cooperative exploration model of coal and Li deposits to lay a theoretical foundation from the perspective of technical optimization and economic rationality. This study is based on the distribution characteristics of the Haerwusu coal–Li deposit, and the effectiveness of the response to exploration techniques, the economical and effective exploration techniques, the reasonable exploration engineering design, and resource estimation parameters is investigated. Therefore, the cooperative exploration model of the coal–Li deposit is established. The high-Li areas in the surface of the Haerwusu Li deposit is distributed near the B1 anticline or in the middle area between the X1 syncline and the B1 anticline, and the vertical distribution of Li content is irregular. The exploration techniques, exploration engineering design, and resource estimation are reviewed and optimized. According to the geological, geochemical, and geophysical conditions, a reasonable cooperative exploration model for coal–Li deposits is established from the two aspects of the coordination of multi-mineral exploration and the coordination of various exploration technologies. The determination of the coal–Li deposit cooperative exploration model has important practical significance for improving the resource security system.

Cooperative Exploration Model of Coal–Gallium Deposit: A Case Study of the Heidaigou Coal–Gallium Deposit in the Jungar Coalfield, Inner Mongolia, China

Gallium (Ga) is a typical scattered trace element that is irreplaceable in strategic sectors such as national defense, wireless communications, new materials, renewable energy, and healthcare. The coal–Ga deposit is an important complement to traditional Ga resources and has become a significant focus for Ga mineral resource exploration. Therefore, there is an urgent need to research the coal–Ga cooperative exploration model from both technical and economic perspectives. Taking the Heidaigou coal–Ga deposit as an example, the enrichment zone of coal–Ga is predominantly situated in the northern part of the exploration area, adjacent to the fault zone. The Ga concentration demonstrates a gradual decline from the north–central region towards the northeast and southeast. Similar vertical Ga distribution patterns are observed in adjacent drillings, with notably higher concentrations in the roof, floor, and parting layers. The cooperative exploration model for coal–Ga deposits is proposed based on the above features. The model employs a comprehensive set of cooperative technical methods, such as remote sensing, geological mapping, seismic exploration, drilling, petrogeochemistry, and well logging. The layout of exploration engineering and the concentration of Ga provide the basis for the estimation of Ga resources. Additionally, the model provides an important scientific basis for the improvement of the strategic coordination ability of Ga mineral resources.

Modeling and Simulation of Cooperative Exploration Strategies in Unknown Environments

Modeling and Simulation of Cooperative Exploration Strategies in Unknown Environments

Manajemen Layanan Koperasi dan Kantin/Kafetaria di Sekolah Sekolah Menengah Pertama Negeri 02 Rambipuji

This research describes cooperative exploration and canteen services at SMPN 02 Rampipuji. The importance of managing cooperative and canteen services in schools is increasingly being realized with changes in the consumption patterns of school residents. The aim of this research is to develop a more structured service plan that integrates cooperative and canteen principles into operational activities, which is expected to improve overall management. The research method used is a descriptive method with a qualitative approach. The population is all administrators and members of the cooperative and canteen of SMPN 02 Rampipuji, totaling 6 people. The research results highlight that cooperative and canteen managers have planned service development. However, to achieve this, it is necessary to improve the profit distribution system based on the activities carried out. The potential is to guide schools and cooperative and canteen managers in improving and enhancing the quality of their services. The findings show that although cooperatives and canteens operate, their management does not fully meet structured cooperative standards. The practical implications used in the research mean improvements to improve cooperative and canteen service standards according to appropriate cooperative and canteen SOPs.

Development of Fuel Production Facility Using Waste Plastic as Feedstock

The raising worldwide issue of plastic waste gathering has driven the investigation of imaginative and supportable arrangements. Among these arrangements, the development and evaluation of fuel offices that change squander plastic into significant energy assets have acquired noticeable quality. This far reaching survey dives into the present status of information and progressions in this field, enveloping plausibility studies, arranging and preprocessing strategies, transformation innovation determination, facility plan, and performance assessment. By reusing waste plastic as a feedstock for fuel production, these undertakings present a double an open door to oversee plastic waste while at the same time tending to energy requests. Through a blend of examination discoveries, this research highlights the significance of informed direction and streamlining systems chasing building and really working this production of fuel. Besides, the study highlighted cooperative exploration, strategy support, mechanical development, and worldwide collaboration as crucial drivers for accomplishing fruitful waste plastic-to-fuel change, adding to more reasonable waste administration rehearses and a progress to a roundabout economy. Materials used include; plastic waste, sorting equipment, reactor vessel, gas burner, condenser, analytical equipment, and storage tank. The reactor was placed on the gas burner and connected to the condenser through the holes pipe and the fuel collect was placed under the condenser outlet to receive our end product. Before running the test, the weight of the plastic waste was measured. the estimated regression coefficients alongside their standard errors, t-values, and p-values. The coefficients address the connection between the independent variables and the dependent variable in the regression model. The intercept term in the relapse model shows the anticipated worth of the reliant variable (fuel production) when all autonomous factors are zero. In Table 4.4, the intercept coefficient was assessed as 8.000 with a standard error of 5.873. However, the fact that the coefficient does not have a statistically significant value (t = 1.363, p = 0.264) suggests that the intercept value may not have a significant effect on predicting fuel production.

PENINGKATAN HASIL BELAJAR TEMATIK SISWA KELAS V SEKOLAH DASAR MELALUI MODEL PROJECT BASED LEARNING (PjBL)

The issues at SD Negeri 1 Blembem remember the absence of contribution of understudies for the educational experience, understudies will generally be uninvolved while learning, and the absence of extending of the material on the grounds that the topical subjects will more often than not concentrate on just a single topic. Subsequently, understudies don't grasp the material introduced by the educator. The motivation behind this exploration is to further develop the learning results of 5th grade understudies through the use of a venture based learning model at Blembem 1 Public Primary School. The examination utilized was homeroom activity research (PTK) utilizing cooperative exploration and did in 2 cycles. Each cycle comprises of four phases, to be specific preparation, execution, perception, and reflection and is completed in two gatherings. The subjects in the review comprised of 29 understudies comprising of 12 male understudies and 17 female understudies. The information examination method utilized is observational information investigation which is utilized to decide the execution of the learning model and to decide understudy learning results in the educational experience. This sort of exploration utilized in subjective examination. The examination configuration is a class-based activity research (Vehicle). assessment from Arikunto class activity research is an assessment of learning exercises as an activity that is purposely brought and happens up in a class together. This examination was led in 2 cycles and each cycle comprised of four stages as per what might occur in this exploration, the execution of the learning model was acquired and the learning results expanded in each cycle. In cycle I, 72% were in the adequate classification, while 89% in cycle II were in the excellent classification. It very well may be presumed that the utilization of task based learning can further develop the learning results of 5th grade understudies at SD Negeri 1 Blembem.

Multi-robot cooperative autonomous exploration via task allocation in terrestrial environments.

Cooperative autonomous exploration is a challenging task for multi-robot systems, which can cover larger areas in a shorter time or path length. Using multiple mobile robots for cooperative exploration of unknown environments can be more efficient than a single robot, but there are also many difficulties in multi-robot cooperative autonomous exploration. The key to successful multi-robot cooperative autonomous exploration is effective coordination between the robots. This paper designs a multi-robot cooperative autonomous exploration strategy for exploration tasks. Additionally, considering the fact that mobile robots are inevitably subject to failure in harsh conditions, we propose a self-healing cooperative autonomous exploration method that can recover from robot failures.

Decentralized Multi-UAV Cooperative Exploration Using Dynamic Centroid-Based Area Partition

Efficient exploration is a critical issue in swarm UAVs with substantial research interest due to its applications in search and rescue missions. In this study, we propose a cooperative exploration approach that uses multiple unmanned aerial vehicles (UAVs). Our approach allows UAVs to explore separate areas dynamically, resulting in increased efficiency and decreased redundancy. We use a novel dynamic centroid-based method to partition the 3D working area for each UAV, with each UAV generating new targets in its partitioned area only using the onboard computational resource. To ensure the cooperation and exploration of the unknown, we use a next-best-view (NBV) method based on rapidly-exploring random tree (RRT), which generates a tree in the partitioned area until a threshold is reached. We compare this approach with three classical methods using Gazebo simulation, including a Voronoi-based area partition method, a coordination method for reducing scanning repetition between UAVs, and a greedy method that works according to its exploration planner without any interaction. We also conduct practical experiments to verify the effectiveness of our proposed method.

Thermal Evolution, Hydrocarbon Generation, and Heat Accumulation of a High Geothermal Coalfield: A Case Study of Pingdingshan Coalfield, China.

As an important energy base in central China, the Pingdingshan coalfield has abundant coal and geothermal resources. The cooperative exploration of coal and geothermal resources is significant for the comprehensive utilization of energy resources. This work collected coal-bearing samples from the Pingdingshan coalfield to investigate the tectono-thermal evolution of a high geothermal coalfield, especially the present geothermal field and hydrocarbon generation model. The geochemical results show that the Shanxi and Taiyuan source rocks have average R o values of 0.88 and 0.97%, respectively, with an average Rock-Eval T max value of 442 °C. Hydrocarbon generation of source rocks started at ∼205 Ma, with the highest rates at ∼170 Ma, reaching the maximum transformation ratio of 40-50% in the middle of the Early Cretaceous. The age and length of apatite fission tracks (AFTs) indicate that coal-bearing strata underwent significant post-depositional annealing after the Late Permian and suggest an abnormal thermal event that occurred in the Late Mesozoic. Meso-Cenozoic thermal event was mainly caused by the plutonic metamorphism of the Early Jurassic and magmatic thermal metamorphism of the Early Cretaceous, achieving a maximum paleotemperature of ∼140 °C. The magmatic thermal event resulted from the intensive post-orogenic extension of the Qinling-Dabie Orogenic Belt caused by the tectonic transition of the North and South China Plates. The present-day high geotemperature of Pingdingshan Coalfield is dominated by the horst structure caused by the regional extension of the basin-mountain system. The Cambrian limestone with a high thermal conductivity underlying coal measure collects deep heat, forming a heat accumulation center of this horst structure with a heat flow of 74 mW/m2 and a maximum temperature of ∼50 °C nowadays.

Adaptive cooperative exploration for reinforcement learning from imperfect demonstrations

Adaptive cooperative exploration for reinforcement learning from imperfect demonstrations

Cooperative Exploration of Heterogeneous UAVs in Mountainous Environments by Constructing Steady Communication

Cooperative Exploration of Heterogeneous UAVs in Mountainous Environments by Constructing Steady Communication

Active chiral molecules in activity gradients.

While the behavior of active colloidal molecules is well studied now for constant activity, the effect of activity gradients is much less understood. Here, we explore one of the simplest molecules in activity gradients, namely active chiral dimers composed of two particles with opposite active torques of the same magnitude. We show analytically that with increasing torque, the dimer switches its behavior from antichemotactic to chemotactic. The origin of the emergent chemotaxis is the cooperative exploration of an activity gradient by the two particles. While one of the particles moves into higher activity regions, the other moves towards lower activity regions, resulting in a net bias in the direction of higher activity. We do a comparative study of chiral active particles with charged Brownian particles under a magnetic field and show that despite the fundamental similarity in terms of their odd-diffusive behavior, their dynamics and chemotactic behavior are generally not equivalent. We demonstrate this explicitly in a dimer composed of oppositely charged active particles, which remains antichemotactic to any magnetic field.

College Students’ Ideological and Political In-Depth Teaching Community Based on Core Literacy Model

With the development of the times, building a learning community in ideological and political teaching has become an urgent need for teaching reform. In ideological and political teaching, the common vision of teachers and students is to carry out cooperative exploration and ultimately realize the progress and growth of common teachers and students, and implement the core of political science. Learning community in ideological and political teaching has the characteristics of group symbiosis, common value, cooperation and sharing, and democratic openness. Therefore, building a learning community in ideological and political teaching is conducive to the formation of a new teaching model of cooperative inquiry and the establishment of equality and democracy. The new teacher-student relationship can cultivate students’ higher-order thinking and promote more meaningful learning. It has been proved by practice that it is valuable to construct a learning community in the ideological and political teaching of universities. Teachers and students should change the traditional teaching concept. University political teachers should carefully prepare lessons, set up teaching design, be considerate to students, be close to reality, be close to knowledge itself, enhance the communication and interaction between teachers and students, and students and students, and actively build a learning community in the process of ideological and political teaching. To enable students to get new knowledge, solve challenging problems, and finally achieve progress and growth.