一、研究方向

环境感知

基于智能无人系统搭载的各类传感设备所获取的信息，开展计算机视觉、机器学习及信息处理相关研究，在复杂多变海洋环境中完成目标检测、分割、定位、跟踪等任务，从而实现准确可靠的环境感知，为后续的意图判定、态势感知与自主决策提供重要信息。针对恶劣海况下风、浪、涌、流、雨、雾等的影响，开展多模态信息融合及跨域信息交互的研究，以解决海洋环境信息不确定、不完整、甚至严重缺失等问题。

   

              

                  复杂海洋环境中基于视觉的目标检测与跟踪                                                         多模态、多源信息融合

    

自主决策

在无人系统自主决策方面，针对约束多、要求高等问题，致力于利用深度强化学习、神经网络、在线和离线迁移学习等人工智能技术，研究高效可靠的自适应决策规划技术，在跨域集群规划决策、以及集群控制方面进一步提升智能化水平，使得无人系统集群能够在复杂海况、开放水域、高度动态环境下具有更强的适应性和稳定性。以水面无人艇和无人机为主要载体，团队在无人系统自主决策、集群和跨域协同决策方面积累了丰富的理论成果，包括不确定非完整条件下的任务分配模型设计、结合动力学特性的静态全局路径规划、基于避碰规则的智能路径重规划、立体综合避障/避碰、集群分布式架构设计、博弈对抗、协同决策与任务规划等技术。  

 

     

                                协同拦截训练                                                         博弈对抗仿真                                                                  蜂拥集结演示

   

自主控制

研究水面无人艇、无人机等无人系统的自主导航、自主控制和集群协同控制技术。使海面无人艇能够在复杂的海洋环境下安全航行，并在风浪流干扰下自主、高效地完成作业任务；使无人机在复杂环境下完成编队控制、轨迹跟踪、紧急避碰等作业。研究方向与技术主要包括：无人系统智能控制、多无人系统协同控制、智能建模与反演、运动响应预报、欠驱动控制、减摇控制、布放回收控制、多智能体跨域协同控制技术等。

 

 

多无人艇协同控制

    

智能无人系统集群

围绕智能无人系统集群在军事和民用领域的应用需求，开展集群理论和应用研究，针对集群协同任务中涉及到的任务分配、队形一致性保持与变换重构、编队成员的轨迹冲突及消除等难题，开展集群协同态势感知、集群自主决策、分布式集群控制、集群协同规划避碰、集群仿生机理等研究。面向集群任务开展实验验证，完成开放水域下多无人艇编队协同护航、大面积场景下多无人机协同探测/协同围捕/密集穿越/自主避碰等任务场景的实验演示验证，推动智能无人集群理论的发展和应用落地。

 

                                                多无人艇编队协同护航                                                                         多无人机编队协同围捕

  

 

二、主要成员

彭艳 齐俊桐 宋锐 李政霖 王子豪 周洋 瞿栋 钟雨轩

    

三、获奖情况

国家科技进步二等奖，海气界面环境弱目标特性高灵敏度微波探测关键技术，2018

国家科技进步二等奖，海洋窄带环境复杂目标探测识别技术与装备，2020

国家技术发明二等奖，复杂岛礁水域无人自主测量关键技术及装备，2016

国家技术发明二等奖，复杂振动的宽域近零超稳抑制技术与装置,2019

无人艇竞优组队全国第一，2019

中国空军智能无人机集群系统挑战赛“形影不离”科目总冠军，2021

上海市科技进步一等奖，窄带环境海洋弱目标探测识别技术与装备，2019

上海市科技进步一等奖，无人艇智能控制系统关键技术创新与应用, 2015

上海市技术发明一等奖，极端环境机器人探测装备关键技术创新与应用，2017

上海市技术发明一等奖，基于探测机器人技术的水域安全监测监控系统, 2011

中国航海学会科学技术特等奖，极地综合航海研究与应用，2015

中国航海学会科学技术一等奖, 水面无人智能测量平台（艇）研制, 2013

中国国际工业博览会创新金奖, “精海号”无人测量艇, 2015

 

四、科研项目

团队近5年获批的部分科研项目

序号	项目类型	项数	经费（万元）
1	国家自然科学基金委重大项目	1项	2000
2	国家自然科学基金委仪器专项	1项	738
3	国家自然科学基金委重点项目	3项	900
4	军委科技委重大专项课题	1项	2700
5	国家***专项	3项	1100
6	中央军委装备发展部项目	4项	1100
7	国家重点研发计划课题	4项	2594
8	国家海洋局课题	3项	2800
9	****四期	2项	1550

 

五、无人平台

 

团队目前已经累计研制了15个型号，共计20多艘精海系列水面无人艇，涉及海底地形地貌勘探、海洋测绘、海洋环境在线监测、河流湖泊水质采样与监测、水面安防与巡逻警戒等多个军民两口的应用领域，客户包括国家海洋局、交通运输部东海航海保障中心、地质调查局、中石油东方物探、黄浦江水上公安等，足迹遍布我国南海、东海、黄海以及南极罗斯海海域，相关成果获得国家技术发明二等奖、中国航海学会特等奖、中国第17届工业博览会创新金奖等。

   

   

面向海域无人系统群体智能关键技术研究和算法验证需求，集团研制了Jhai200和Jhai400两型水面无人艇集群试验平台，开展了面向协同抵近侦察、水面目标护航、区域巡逻警戒等任务背景的实艇演示验证，对开放水域环境下的联合感知、艇群信息融合与交互认知、协同决策与分布式控制等技术进行闭环验证。

自主研发的无人机集群系统，累计飞行超过100万架次，创造无人机集群连续最长时间吉尼斯时间纪录，同时具有较好的稳定性和机动性，可以支持多种任务场景，为智能无人系统集群理论研究和实验验证提供空中平台。

       

 

  无人机集群平台

     

六、论文

• Chen, Huizi, Yan Peng, Dan Zhang, Shaorong Xie, and Huaicheng Yan. "Dynamic positioning for underactuated surface vessel via L1 adaptive backstepping control." Transactions of the Institute of Measurement and Control 43, no. 2 (2021): 355-370.

• Yang, Huixin, and Yueying Wang. "Cyclic Pursuit-Fuzzy PD Control Method for Multi-agent Formation Control in 3D Space." International Journal of Fuzzy Systems 23, no. 6 (2021): 1904-1913.

• Liu, Jingyi, Hengyu Li, Jun Luo, Shaorong Xie, and Yu Sun. "Efficient obstacle detection based on prior estimation network and spatially constrained mixture model for unmanned surface vehicles." Journal of Field Robotics 38, no. 2 (2021): 212-228.

• Zhou, Bo, Yi He, Kun Qian, Xudong Ma, and Xiaomao Li. "S4-SLAM: A real-time 3D LIDAR SLAM system for ground/watersurface multi-scene outdoor applications." Autonomous Robots 45, no. 1 (2021): 77-98.

• Liu, Xinxin, Xiaojie Su, Peng Shi, Chao Shen, and Yan Peng. "Event-triggered sliding mode control of nonlinear dynamic systems." Automatica 112 (2020): 108738.

• Wu, Xing, Haolei Chen, Changgu Chen, Mingyu Zhong, Shaorong Xie, Yike Guo, and Hamido Fujita. "The autonomous navigation and obstacle avoidance for USVs with ANOA deep reinforcement learning method." Knowledge-Based Systems 196 (2020): 105201.

• Yang, Yang, Quan Li, Junnan Zhang, and Yangmin Xie. "Iterative learning-based path and speed profile optimization for an unmanned surface vehicle."  Sensors 20, no. 2 (2020): 439.

• Peng, Yan, Jiantao Gao, Chang Liu, Xiaomao Li, Baojie Fan, Jiahong Chen, Jun Luo, Shaorong Xie, and Huayan Pu. "Soft labeling with quasi-Gaussian structure for training samples of deep classification trackers." International Journal of Advanced Robotic Systems 17, no. 2 (2020): 1729881420915025.

• Liu, Yuan, Yan Peng, Min Wang, Jiajia Xie, and Rui Zhou. "Multi-usv system cooperative underwater target search based on reinforcement learning and probability map." Mathematical Problems in Engineering 2020 (2020).

• Wei, Yan, Pingfang Zhou, Yinzheng Liang, Yueying Wang, and Dengping Duan. "Adaptive finite‐time neural backstepping control for multi‐input and multi‐output state‐constrained nonlinear systems using tangent‐type nonlinear mapping." International Journal of Robust and Nonlinear Control 30, no. 14 (2020): 5559-5578.

• Han, Guangjie, Hao Wang, James Adu Ansere, Jinfang Jiang, and Yan Peng. "SSLP: A stratification-based source location privacy scheme in underwater acoustic sensor networks." IEEE Network 34, no. 4 (2020): 188-195.

• Xie, Jiajia, Jun Luo, Yan Peng, Shaorong Xie, Huayan Pu, Xiaomao Li, Zhou Su, Yuan Liu, and Rui Zhou. "Data driven hybrid edge computing-based hierarchical task guidance for efficient maritime escorting with multiple unmanned surface vehicles." Peer-to-Peer Networking and Applications 13, no. 5 (2020): 1788-1798.

• Yang, Yang, Ping Pan, Xingang Jiang, Shuanghua Zheng, Yongjian Zhao, Yi Yang, Songyi Zhong, and Yan Peng. "An Attitude Prediction Method for Autonomous Recovery Operation of Unmanned Surface Vehicle." Sensors 20, no. 19 (2020): 5662.

• Liu, Yuan, Min Wang, Zhou Su, Jun Luo, Shaorong Xie, Yan Peng, Huayan Pu, Jiajia Xie, and Rui Zhou. "Multi-AUVs cooperative target search based on autonomous cooperative search learning algorithm." Journal of Marine Science and Engineering 8, no. 11 (2020): 843.

• Hu, Xinming, Huaichun Fu, and Qixing Cheng. "Research on Course Control of Unmanned Surface Vehicle." In International Conference on Bio-inspired Information and Communication Technologies, pp. 141-151. Springer, Cham, 2020.

• Li, Xiaomao, Xingang Jiang, Yang Yang, Yan Peng, Songyi Zhong, Huayan Pu, Shaorong Xie, and Jun Luo. "Research on motion control of an autonomic launch and recovery device for unmanned surface vehicle." International Journal of Vehicle Design 84, no. 1-4 (2020): 5-27.

• Rui, Zhang, Liu Jingyi, Li Hengyu, and Cheng Qixing. "Real-Time obstacle detection based on monocular vision for unmanned surface vehicles." In International Conference on Bio-inspired Information and Communication Technologies, pp. 166-180. Springer, Cham, 2020.

• Wang, Chunxin, Shaorong Xie, Huizi Chen, Yan Peng, and Dan Zhang. "A decoupling controller by hierarchical backstepping method for straight-line tracking of unmanned surface vehicle." Systems Science & Control Engineering 7, no. 1 (2019): 379-388.

• Dai, Songmin, Xiaoqiang Li, Lu Wang, Pin Wu, Weiqin Tong, and Yimin Chen. "Learning segmentation masks with the independence prior." In Proceedings of the AAAI Conference on Artificial Intelligence, vol. 33, no. 01, pp. 3429-3436. 2019.

• Fan, Baojie, Xiaomao Li, Yang Cong, and Yandong Tang. "Structured and weighted multi-task low rank tracker." Pattern Recognition 81 (2018): 528-544.

• Farooq, Umar, Jason Gu, Mohamed El-Hawary, Valentina E. Balas, Marius M. Balas, Ghulam Abbas, Muhammad Usman Asad, and Jun Luo. "State convergence-based control of a multi-master-single-slave non-linear teleoperation system." Acta Polytechnica Hungarica 15, no. 4 (2018).

• Xu, Bin, Yingxin Shou, Jun Luo, Huayan Pu, and Zhongke Shi. "Neural learning control of strict-feedback systems using disturbance observer." IEEE Transactions on neural networks and learning systems 30, no. 5 (2018): 1296-1307.

• Li, Qi, Bo Shen, Zidong Wang, Tingwen Huang, and Jun Luo. "Synchronization control for a class of discrete time-delay complex dynamical networks: A dynamic event-triggered approach." IEEE Transactions on Cybernetics 49, no. 5 (2018): 1979-1986

• Liu, Zhixiang, Youmin Zhang, Chi Yuan, and Jun Luo. "Adaptive path following control of unmanned surface vehicles considering environmental disturbances and system constraints." IEEE Transactions on Systems, Man, and Cybernetics: Systems 51, no. 1 (2018): 339-353.

• Li, Qi, Bo Shen, Zidong Wang, Tingwen Huang, and Jun Luo. "Synchronization control for a class of discrete time-delay complex dynamical networks: A dynamic event-triggered approach." IEEE Transactions on Cybernetics 49, no. 5 (2018): 1979-1986.

• 彭艳, 陈加宏, 李小毛, 罗均, 谢少荣, 刘畅, and 蒲华燕. "时空上下文融合的无人艇海面目标跟踪." 中国科学: 技术科学 48, no. 12 (2018): 1357-1372.

• Xu, Bin, Yingxin Shou, Jun Luo, Huayan Pu, and Zhongke Shi. "Neural learning control of strict-feedback systems using disturbance observer." IEEE Transactions on neural networks and learning systems 30, no. 5 (2018): 1296-1307.