Dynamic Navigation and Area Assignment of Multiple USVs Based on Multi-Agent Deep Reinforcement Learning.

The unmanned surface vehicle (USV) has attracted more and more attention because of its basic ability to perform complex maritime tasks autonomously in constrained environments. However, the level of autonomy of one single USV is still limited, especially when deployed in a dynamic environment to perform multiple tasks simultaneously. Thus, a multi-USV cooperative approach can be adopted to obtain the desired success rate in the presence of multi-mission objectives. In this paper, we propose a cooperative navigating approach by enabling multiple USVs to automatically avoid dynamic obstacles and allocate target areas. To be specific, we propose a multi-agent deep reinforcement learning (MADRL) approach, i.e., a multi-agent deep deterministic policy gradient (MADDPG), to maximize the autonomy level by jointly optimizing the trajectory of USVs, as well as obstacle avoidance and coordination, which is a complex optimization problem usually solved separately. In contrast to other works, we combined dynamic navigation and area assignment to design a task management system based on the MADDPG learning framework. Finally, the experiments were carried out on the Gym platform to verify the effectiveness of the proposed method.

A High-Performance Coniform Helmholtz Resonator-Based Triboelectric Nanogenerator for Acoustic Energy Harvesting.

Harvesting acoustic energy in the environment and converting it into electricity can provide essential ideas for self-powering the widely distributed sensor devices in the age of the Internet of Things. In this study, we propose a low-cost, easily fabricated and high-performance coniform Helmholtz resonator-based Triboelectric Nanogenerator (CHR-TENG) with the purpose of acoustic energy harvesting. Output performances of the CHR-TENG with varied geometrical sizes were systematically investigated under different acoustic energy conditions. Remarkably, the CHR-TENG could achieve a 58.2% higher power density per unit of sound pressure of acoustic energy harvesting compared with the ever-reported best result. In addition, the reported CHR-TENG was demonstrated by charging a 1000 µF capacitor up to 3 V in 165 s, powering a sensor for continuous temperature and humidity monitoring and lighting up as many as five 0.5 W commercial LED bulbs for acoustic energy harvesting. With a collection features of high output performance, lightweight, wide frequency response band and environmental friendliness, the cleverly designed CHR-TENG represents a practicable acoustic energy harvesting approach for powering sensor devices in the age of the Internet of Things.

Detecting community structures in networks by label propagation with prediction of percolation transition.

Though label propagation algorithm (LPA) is one of the fastest algorithms for community detection in complex networks, the problem of trivial solutions frequently occurring in the algorithm affects its performance. We propose a label propagation algorithm with prediction of percolation transition (LPAp). After analyzing the reason for multiple solutions of LPA, by transforming the process of community detection into network construction process, a trivial solution in label propagation is considered as a giant component in the percolation transition. We add a prediction process of percolation transition in label propagation to delay the occurrence of trivial solutions, which makes small communities easier to be found. We also give an incomplete update condition which considers both neighbor purity and the contribution of small degree vertices to community detection to reduce the computation time of LPAp. Numerical tests are conducted. Experimental results on synthetic networks and real-world networks show that the LPAp is more accurate, more sensitive to small community, and has the ability to identify a single community structure. Moreover, LPAp with the incomplete update process can use less computation time than LPA, nearly without modularity loss.