Cooperative Path Research Articles

Training future professors in public budgeting, finance, and financial management: The Inter-University Consortium for PhD courses

ABSTRACT The Inter-University Consortium for Doctoral Courses in Public Budgeting, Finance, and Financial Management is the first collaborative project for online doctoral courses in public affairs. This article provides an account of the consortium’s initiation, establishment, and operation for the pilot round. The consortium fills a niche in doctoral education and opens up a path for smooth cooperation between universities by accessing instructors who are experts in subfields of public budgeting and finance. This article also analyses the results of a survey of students, liaison professors and leaders of the participating schools. The article aims to draw lessons from the pilot operation and to look into the future for improvements. Though the consortium regards doctoral courses in the PBFM specialization, the problem is a common one, generic to all area specializations of PhD programs in research universities. We hope the consortium can be a model for collaboration between universities going forward.

Analysis on the Cooperation Path of Digital Trade between China and Portugal

In the rapidly developing modern society, digital technology has brought great changes to many traditional things. Digital trade is a new trade form born from traditional trade. Its appearance has changed the pattern of traditional trade to a certain extent and has been gradually concerned by all parties. At the same time, with the advancement of the times, the multi-polarization of the world has gradually become mainstream. For Portuguese-speaking countries, trade and cultural exchanges can strengthen the cooperation among countries and effectively promote the common development of all countries. Therefore, this paper takes China and Portugal as the main research objects, selects the relevant data of bilateral digital trade from 2008 to 2019 for research, analyzes the scale and structure of bilateral digital trade, and studies and analyzes the cooperation path of digital trade between China and Portugal.

Combat situation suppression of multiple UAVs based on spatiotemporal cooperative path planning

Combat situation suppression of multiple UAVs based on spatiotemporal cooperative path planning

Co-Evolutionary Algorithm-Based Multi-Unmanned Aerial Vehicle Cooperative Path Planning

Multi-UAV cooperative path planning is a key technology to carry out multi-UAV tasks, and its research has important practical significance. A multi-UAV cooperative path is a combination of single-UAV paths, so the idea of problem decomposition is effective to deal with multi-UAV cooperative path planning. With this analysis, a multi-UAV cooperative path planning algorithm based on co-evolution optimization was proposed in this paper. Firstly, by analyzing the meaning of multi-UAV cooperative flight, the optimization model of multi-UAV cooperative path planning was given. Secondly, we designed the cost function of multiple UAVs with the penalty function method to deal with multiple constraints and designed two information-sharing strategies to deal with the combination path search between multiple UAVs. The two information-sharing strategies were called the optimal individual selection strategy and the mixed selection strategy. The new cooperative path planning algorithm was presented by combining the above designation and co-evolution algorithm. Finally, the proposed algorithm is applied to a rendezvous task in complex environments and compared with two evolutionary algorithms. The experimental results show that the proposed algorithm can effectively cope with the multi-UAV cooperative path planning problem in complex environments.

Charge Polarity Control in Organic Transistors of Mixed and Segregated Complexes Based on Diaminonaphthalene and Pyrene.

Organic cocrystals of diaminonaphthalene (DAN) and diaminopyrene (DAP) with bromanil (BA) and tetracyanoquinodimethane (TCNQ) are an exemplar system for understanding the charge-transport process, where from the viewpoint of partition theory, orbital symmetry plays a crucial role in controlling the carrier charge polarity of transistors. In the mixed-stack complexes of BA and other p-quinone acceptors, a comparatively weak donor, 1,5-DAN, shows p-channel characteristics owing to the counteractive contribution of the next highest occupied molecular orbital for electron transport. This characteristic behavior occurs because the BA molecule, situated on top of the amino group, overlaps with half of the DAN molecule. By contrast, the BA and TCNQ complexes of a stronger donor, 1,6-DAP, exhibit n-channel transport due to the cooperative path and orthogonal orbitals. Similarly, TCNQ complexes of variously substituted DAN show n-channel transport, where the TCNQ molecules are located on top of the DAN molecules. However, when the carbon electrodes of (1,5-DAN)(BA) are replaced by silver, electron transport appears due to the competitive effect of the Schottky barriers. In a highly conducting segregated complex of (1,6-DAP)(TCNQ), ambipolar transistor characteristics are observed without subtracting the bulk current by using carefully prepared thin-film transistors.

An improved particle swarm optimization based on age factor for multi-AUV cooperative planning

Multi-AUV planning of cooperative path represents the intelligence level of AUV formation system, which has attracted significant attention due to its flexibility and robustness. To enhance the speed and exploration capability of the multi-AUV autonomous path planner, this paper proposes an Age-based Multi-population Particle Swarm Optimization (AMPSO) for three-dimensional path planning of multiple AUVs. Firstly, reverse chaotic mapping is employed to enhance the initial distribution, enabling them to better adapt to the optimization process. In addition, the introduction of multiple populations helps to enhance the diversity within the population, thereby accelerating the convergence rate. Taking into account the search ability, the concept of an "age" coefficient is proposed to optimize the velocity updating formula to reduce the effect of inferior particles. Furthermore, a velocity-independent updating mode is suggested to enhance the population diversity by selecting different update modes. To evaluate the performance of the proposed algorithm, Monte Carlo simulations are conducted for AUV formations across two tracking tasks within the underwater environment established in this paper. The results demonstrate that the proposed algorithm outperforms other commonly used algorithms in terms of both speed and optimality, so the proposed AMPSO can be used for multi-AUV cooperative planning.

Cooperative Path Following Control of a Team of Quadrotor-Slung-Load Systems Under Disturbances

In this paper, we address the challenging problem of path-following control for a group of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> Quadrotor-Slung-Load Systems (QSLSs) subject to time-varying disturbances. A single QSLS consists of a quadrotor vehicle and a load attached to the vehicle's center of mass via a cable. We propose a distributed path coordination framework that generates <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> desired paths for the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> loads while maintaining a fixed inter-load formation pattern. Furthermore, we introduce a robust controller for each of the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> quadrotors to drive the respective load along the assigned path. The path-following controller is designed to ensure that the quadrotor thrust remains bounded with respect to position and velocity tracking errors. We present a series of simulation and experimental results to validate the effectiveness of the proposed approach and demonstrate its performance.

Path Planning for Multiple Unmanned Surface Vehicles Using Glasius Bio-Inspired Neural Network With Hungarian Algorithm

In this article, we focus on the cooperative path planning for unmanned surface vehicles (USVs) composed of single-USV path planning and multi-USVs task assignment. First, the Glasius bioinspired neural network (GBNN) is used to calculate the neural activity for the discretized working space of USV, and the ocean current is considered in the definition of neuron connection weight especially. The standard path of single USV for obstacle avoidance between start point and destination can hence be planned. Then, based on the result of neural activity values from GBNN, the cost matrix of the Hungarian algorithm is built and modified for the task assignment among multi-USVs, and the unbalanced problem is well resolved. Consequently, the task points are allocated to USVs and prioritized effectively, and each USV just needs to visit the corresponding task points respectively along the standard paths by GBNN to accomplish the task. Finally, the simulation results demonstrate the feasibility and efficiency of the proposed algorithm.

Dilemmas and paths of international cooperation in China's fight against IUU fishing analysis

Illegal, unreported, and unregulated (IUU) fishing not only seriously harms marine ecosystems but also undermines national, regional, and global efforts to achieve sustainable fishery resource development. As a major marine fishing country, China has developed a unique system for combating IUU fishing and actively participates in international cooperation. However, this paper finds that China still faces the following dilemmas in practice: 1. Loopholes in the international regime of IUU fishing hinder China's cooperation process; 2. China has not formed a domestic legal system to combat IUU fishing; 3. Other countries could adopt unilateral trade sanctions against China under the justification of combating IUU fishing; 4. Conflicts over maritime rights and interests become the obstacles of China's fight against IUU fishing. Given these dilemmas, this paper analyzes the paths around the above issues to promote the better participation of China in the process of combating IUU fishing globally.

The Cooperation Path and Development Dilemma of Social Organizations Participating in Community Elderly Care Services: A Case Study of Y Social Organizations in Zhejiang Province

Based on the current national conditions of aging in China, this paper takes the study of Y social organization as the research object, explores the mode and path of Y social organization's correct participation in community elderly care service. It summarizes the value of Y organization's participation in community elderly care service, and the problems and difficulties faced in the development process, so as to further propose the optimization path and means. This research plays a positive role in the future development and improvement of Y organization and in the development of other social organizations.

Search Algorithms for Multi-Agent Teamwise Cooperative Path Finding [Extended Abstract

Multi-Agent Path Finding (MA-PF) finds collision-free paths for multiple agents from their respective start to goal locations. This paper investigates a generalization of MA-PF called Multi-Agent Teamwise Cooperative Path Finding (MA-TC-PF), where agents are grouped as multiple teams and each team has its own objective to minimize. In general, there is more than one team, and MA-TC-PF is thus a multi-objective planning problem with the goal of finding the entire Pareto-optimal front that represents all possible trade-offs among the objectives of the teams. We show that the existing CBS and M* for MA-PF can be modified to solve MA-TC-PF, which is verified with tests. We discuss the conditions under which the proposed algorithms are complete and are guaranteed to find the Pareto-optimal front for MA-TC-PF.

Robotic organism targets regional coverage capture path planning for marine aquafarm based on value iteration network

The application of robots in the field of Marine aquatic organisms capture can greatly improve the fishing efficiency and economy of seafood. The purpose for path planning of underwater vehicle manipulator system (UVMS) is to capture the most organisms in the shortest time with no obstacle collisions. This paper has proposed a novel cost modelling algorithm for the collision avoidance, manipulation and vehicle movement during the target capture process. On the underwater unknown and blurred environment, a novel double value iteration network with long short-term memory (LSTM) network has been proposed on the basis of value iteration networks. The proposed improved double value iteration network can predict the blurred and unknown environment, plan capture strategy with the calculated collision risk and movement cost. In the value iteration module, the use of LSTM network can improve the stability of training and the performance of the model. Moreover, a novel cooperative path planning model for task allocation has been proposed to improve capture efficiency. Simulations on robot and multiple robots capture planning have verified the network performance.

Research on hybrid navigation algorithm and multi-objective cooperative planning method for electric inspection robot

For mobile robots working in the power inspection environment, navigation algorithms and collaborative path planning are the keys to understanding and reproducing human power inspection’s thinking mode. Firstly, the paper proposed a hybrid navigation algorithm of reflector and laser based on the generalized inverse of the least squares solution. Secondly, to solve the problem of multi-robot inspection cooperative path planning, the traffic rule reservation table generated a dynamic weighted map representing traffic congestion in power inspection to prevent multi-robot collision. Thirdly, through the distributed control method, the robot used the dynamic weighted map to improve the RRT (Rapidly-Exploring Random Trees)algorithm to achieve the purpose of active cooperative path planning, reducing the trajectory’s critical path points and solving the cooperative congestion. Finally, the positioning and calibration compensation can be carried out through the experiment by the reflector navigation algorithm in a large-scale complex environment. Comparing the path planning methods of the A* algorithm and the dynamic weighted RRT algorithm, the dynamic weighted RRT algorithm reduces the number of extended nodes. It solves the multi-robot planning collision problem while ensuring the search path’s completeness. Meanwhile, the dynamic weighted RRT algorithm can save the running time of the multi-robot system and effectively improve the efficiency of the power inspection system.

Secure Cooperative Path Following of Autonomous Surface Vehicles Under Cyber and Physical Attacks

This paper is concerned with the networked cooperative path following (CPF) problem for multiple autonomous surface vehicles (ASVs) subject to simultaneous cyber and physical attacks. First, to compensate the adverse effects of the physical-attack-induced bias injections, an extended state observer is designed to provide real-time estimates of the unmeasured velocities and unknown nonlinear terms. Next, to identify and handle various cyber attacks, a novel secure data transmission mechanism, featuring a secure transmitter and a secure receiver, is developed for each ASV. Then, a secure CPF control scheme, consisting of a networked cooperative kinematic control law and a networked kinetic control law, is presented. Furthermore, the observer error dynamics and networked CPF error dynamics are derived to account for the simultaneous network-induced delays, packet dropouts, physical attacks, and cyber attacks. The proposed control scheme is capable to preserve satisfactory secure tracking performance of the resulting CPF control system under a desired reference path even in the presence of external environmental disturbances, delays, packet dropouts, and malicious attacks. Finally, several case studies are provided to substantiate the effectiveness of the secure CPF control scheme.

Study on Multi-UAV Cooperative Path Planning for Complex Patrol Tasks in Large Cities

Unmanned Aerial Vehicles (UAVs) are increasingly utilized for urban patrol and defense owing to their low cost, high mobility, and rapid deployment. This paper proposes a multi-UAV mission planning model that takes into account mission execution rates, flight energy consumption costs, and impact costs. A kinematics and dynamics model of a quadcopter UAV is established, and the UAV’s flight state is analyzed. Due to the difficulties in addressing 3D UAV kinematic constraints and poor uniformity using traditional optimization algorithms, a lightning search algorithm (LSA) based on multi-layer nesting and random walk strategies (MNRW-LSA) is proposed. The convergence performance of the MNRW-LSA algorithm is demonstrated by comparing it with several other algorithms, such as the Golden Jackal Optimization (GJO), Hunter–Prey Optimization (HPO), Pelican Optimization Algorithm (POA), Reptile Search Algorithm (RSA), and the Golden Eagle Optimization (GEO) using optimization test functions, Friedman and Nemenyi tests. Additionally, a greedy strategy is added to the Rapidly-Exploring Random Tree (RRT) algorithm to initialize the trajectories for simulation experiments using a 3D city model. The results indicate that the proposed algorithm can enhance global convergence and robustness, shorten convergence time, improve UAV execution coverage, and reduce energy consumption. Compared with other algorithms, such as Particle Swarm Optimization (PSO), Simulated Annealing (SA), and LSA, the proposed method has greater advantages in addressing multi-UAV trajectory planning problems.

Analysis of the Trilateral Cooperation Path of China, Japan and South Korea under the RCEP Framework

RCEP will reconstruct the regional industrial chain from various aspects, and further industrial cooperation between China, Japan and South Korea will also face many opportunities and challenges. This paper draws on the theory of international cooperation and puts forward a research framework of "power-institution-collective identity" on the basis of realist power cooperation theory, liberal institutional cooperation theory and constructivist identity cooperation theory. And through research, a new path for cooperation is proposed: ①Interest-oriented: Increasing the degree of trilateral interdependence. ② Institutional Guarantee: Promote the Institutionalization of Cooperation. ③ Conflict Resolution: Building Regional Collective Identity.

AI-based energy-efficient path planning of multiple logistics UAVs in intelligent transportation systems

In the context of Industry 5.0, artificial intelligence (AI)-based logistics Unmanned Aerial Vehicles (UAVs) have been widely applied in intelligent transportation systems due to their advantages of faster speed, lower cost, more environment-friendly, and less manpower needed. Whereas, most of the existing logistics UAV delivery models have not taken the energy consumption of the logistics UAVs and mixed time windows of the customers, which leads to their models cannot be applied in practical transportation systems. Therefore, we propose to minimize the total energy cost of multiple logistics UAVs during the customized products delivery period for a smart transportation system. Taking the energy consumption variation of the logistics UAVs, mixed time windows of the customers, as well as simultaneous delivery and pick up into consideration, we formulate a cooperative path planning problem via jointly optimizing the route of the logistics UAVs and the service allocation. To solve this large-scale integer programming problem, we employ the Large Neighborhood Search Algorithm (LNS) to accelerate the convergence rate of Genetic Algorithm (GA), and then develop an improved GA based cooperative path planning algorithm (IGCPA). The optimization procedure of the proposed algorithm IGCPA is divided into two phases, using the GA crossover operator and variational operator in the global search phase and LNS operator in the local search phase, and validating the integer programming model and the effectiveness of the solution algorithm based on different scale cases. Finally, abundant simulation results show that the energy cost of IGCPA is reduced by 17.35%, 15.18% and 9.99% compared with GA, LNS and Particle Swarm Optimization (PSO), respectively. Furthermore, the IGCPA is validated using Solomn standard data, which further verifies that the IGCPA can enhance the convergence rate of GA as well as obtain a lower delivery cost. Sensitivity analysis of the maximum UAV load and battery capacity reveals that the distribution cost tends to decrease and then increase as the increase of maximum load and battery capacity.

Russian Corporations Implementation of State Policy in Cooperation with Republic of Iraq (Field Development Example)

Introduction. Oil fields in the Republic of Iraq have traditionally been the subject to intense scrutiny of international fuel and energy companies. Iraq is one of the world leaders in terms of oil reserves. According to the Organization of Petroleum ExportingCountries (OPEC), Iraq ranks 4th in 2021 (145,019 million barrels). Russian oil companies are firmly expanding their presence in the Iraqi oil fields. In condition of unprecedented sanctions against Russia from the collective West, our country has to look for ways to ensure its energy sovereignty. Oil development in Iraq can be an effective way for Russian companies to achieve their potential. This article examines the prospects for increasing the reach of Russian oil companies in the oil fields of Iraq taking into account the current geopolitical situation, and the global agenda includes the opportunity for Russia to promote interests both in the Middle East and beyond.Materials and methods. In this study, general and particular scientific methods are applied. The genetic method should be highlighted, as it allowed to trace the process of formation and development of the Russian-Iraqi interaction, and to draw conclusion on the prospects for its expansion. The study also analyzes the international legal framework of Russian-Iraqi cooperation, oil production statistics in Iraq, materials published in the media, official statements by the Russian and Iraqi authorities.The results of the study. The conducted research allowed to substantiate the conclusion that Iraq is the most promising area for extending the activities of Russian oil companies. Nowadays, Russia and Iraq are following the path of multifaceted cooperation, including the economic sphere. Also, the prerequisites that favor joint activities of Russia and Iraq in the fuel and energy field are the proximity of the countries in the scientific and technical sphere, the extreme economic feasibility of increasing the volume of joint economic operations and the compliance of Russian-Iraqi collaboration with the national interests of both states.Discussion and conclusions. Partnership with the Republic of Iraq is of strategic importance for Russia in the Middle East. This is almost a win-win direction of foreign economic activity, since it brings mutual political and economic benefits. Iraq may become a new springboard for the penetration of Russian business deep into the Middle East region. It is necessary to further develop this course in order to adapt Russian politics and economy to the new realities of the international geopolitical situation.

UGV Parking Planning Based on Swarm Optimization and Improved CBS in High-Density Scenarios for Innovative Urban Mobility

The existence of information silos between vehicles and parking lots means that Unmanned Ground Vehicles (UGVs) repeatedly drive to seek available parking slots, resulting in wasted resources, time consumption and traffic congestion, especially in high-density parking scenarios. To address this problem, a novel UGV parking planning method is proposed in this paper, which consists of cooperative path planning, conflict resolution strategy, and optimal parking slot allocation, intending to avoid ineffective parking seeking by vehicles and releasing urban traffic pressure. Firstly, the parking lot induction model was established and the IACA–IA was developed for optimal parking allocation. The IACA–IA was generated using the improved ant colony algorithm (IACA) and immunity algorithm. Compared with the first-come-first-served algorithm (FCFS), the normal ant colony algorithm (NACA), and the immunity algorithm (IA), the IACA–IA was able to allocate optimal slots at a lower cost and in less time in complex scenarios with multi-entrance parking lots. Secondly, an improved conflict-based search algorithm (ICBS) was designed to efficiently resolve the conflict of simultaneous path planning for UGVs. The dual-layer objective expansion strategy is the core of the ICBS, which takes the total path cost of UGVs in the extended constraint tree as the first layer objective, and the optimal driving characteristics of a single UGV as the second layer objective. Finally, three kinds of load-balancing and unbalanced parking scenarios were constructed to test the proposed method, and the performance of the algorithm was demonstrated from three aspects, including computation, quality and timeliness. The results show that the proposed method requires less computation, has higher path quality, and is less time-consuming in high-density scenarios, which provide a reasonable and efficient solution for innovative urban mobility.

Research on the path of practical cooperation between China and European Union countries under the environment of carbon neutrality and peak carbon dioxide emissions

Globalization is increasing daily with the development of the world economy and society. International conflicts, cooperation, and interdependence in international environmental relations have become increasingly prominent, laying a theoretical and practical basis for international environmental cooperation. The ecological protection industries of China and the EU (European Union) are facing great development opportunities. Many EU member states have advantages in developing the environmental protection industry, which facilitates all-around cooperation in the environmental protection industry with my country. Based on the target policy background of PCDE (peak carbon dioxide emissions) and CN (carbon neutrality) and domestic and foreign research, this paper proposes a study on the practical cooperation path between China and EU countries. Based on international input–output data, an economic output CDE (carbon dioxide emission) matrix is constructed to characterize countries’ economic and CDE correlation, thus forming a global CDE network. The analysis shows that the contribution rate of energy structure effect and energy intensity fluctuates slowly, indicating a positive and negative alternation; Our government should adopt an active energy optimization policy, speed up the formulation of macro policies such as carbon tax on energy-consuming industries, continuously optimize the energy structure and reduce the CDE intensity. By 2023, China’s unit GDP will remain the same by 40–50% compared with 2022. Furthermore, the practical cooperation path proposed in this paper can provide valuable insights for policymakers and stakeholders in both China and the EU to promote the development of the environmental protection industry and achieve the common goal of carbon neutrality. The findings of this study can be used to inform the design and implementation of policies and initiatives aimed at reducing carbon emissions, improving energy efficiency, and promoting sustainable economic growth. Additionally, the international CDE network constructed in this study can serve as a useful tool for monitoring and evaluating the effectiveness of environmental policies and initiatives at the international level. Overall, this paper contributes to the scientific understanding of the complex relationship between economic development and environmental protection and provides practical guidance for promoting international cooperation in the environmental protection industry.