This paper presents a decentralized motion planning method for multiple aerial vehicles moving among 3-D polygonal obstacles resembling an urbanlike environment. The algorithm combines prioritized A* high-level planning, along with coordination based on barrier functions low-level trajectory generation and vehicle control. To this end, we extend the developed in our earlier work so that it treats 2-D obstacles, generates collision-free trajectories multiagent system. We furthermore augment...

We present a navigation system that combines ideas from hierarchical planning and machine learning. The uses traditional global planner to compute optimal paths towards goal, deep local trajectory velocity controller motion commands. latter components of the adjust behavior robot through attention mechanisms such it moves avoids obstacles, respects space nearby pedestrians. Both structure proposed models use make system's execution interpretable. Our simulation experiments suggest...

The Nanling Metallogenic Belt (NMB) in South China contains huge amounts of Middle to Late Jurassic granitoid-related polymetallic Pb-Zn and W-Sn deposits. Whether there is a link between granitoid genesis mineral species what specific factors control the metallogenic specialization remained unclear. Herein, we presented systematic investigation on Dafang ore-causative intrusion, then placed it into compiled comprehensive dataset NMB ore-hosting granitoids aiming reveal magmatic variations...

This paper presents a decentralized multi-agent motion planning method for aerial robots moving among 3D polygonal obstacles. The algorithm combines prioritized A* high-level (global) along with barrier functions-based low-level (local) coordination and control. We first extend the barriers function developed in earlier work to treat arbitrary then combine compute waypoints paths that facilitate performance of barrier-based collision avoidance. assume obstacles are known agents, each agent...

Critical metal indium tends to be enriched in skarn Pb-Zn systems, but the spatiotemporal distribution pattern of and its controls a specific deposit remains unclear. To address this problem, we conducted combination geological, mineralogical, trace element geochemical investigations on Fozichong Orefield (South China) that contains two individual deposits with different distances from ore-causative intrusion (the proximal Longwan distal Guyi deposits). Three types sphalerites mineralogical...

The Dafang Au-Ag-Zn-Pb deposit represents one of the typical polymetallic deposits in Nanling Metallogenic Belt (South China). However, uncertainties persist regarding its paragenesis, ore-related alteration types, and physicochemical conditions. To address these questions, our study encompasses a comprehensive suite field surveys, microscopic observations, Electron Probe Microanalysis (EPMA), Laser Ablation-Inductively Coupled Plasma-Mass Spectrometer (LA-ICP-MS) analyses. Special attention...

We present efficient protocols for creating multipartite Greenberger-Horne-Zeilinger (GHZ) and W states of distant stationary qubits. The system nonuniformity and/or the non-ideal single-photon scattering usually limit performance entanglement creation, result in decrease fidelity efficiency practical quantum information processing. By using linear optical elements, errors caused by photon can be converted into heralded loss our protocols. Thus, generated entangled keeps unchanged only...

Photon blockade via a giant self-Kerr nonlinearity in an optical resonator induced by N-type quantum system is one of the main routines towards photon-based information processing. However, such for phonons lacking. We propose effective phonons, forming from superconducting transmon qubit and microwave resonator. In absence any external driving, vacuum-qubit interaction causes surface acoustic wave (SAW) phonon blockade. Such vacuum-induced paves way to prepare single SAW weak coherent...

How to organize and discover the virtual resource effectively is an important research issue in network virtualization environment especially across multiple infrastructure providers with conflicting goals. In this paper, we explore a organization discovery framework of providers. The composed Cluster Index Servers Management Nodes aggregates resources based on resource's root attribute implement sharing avoid blind searching required resources. addition, mechanism facilitates global optimal...

To enhance power supply reliability of wind-PV system and improve utilization wind PV, it is necessary to configure the capacity turbine generators, PV modules energy storage devices reasonably. Based on feature joint-operation generation with device considering dynamic variation stored during joint operation, taking technical characteristics unit loss probability (LPSP) as constraint, a configuration method capacity, in which original investment integrated wind, photovoltaic taken objective...

Based on 3,146 Chinese A-share listed firms, we reveal that digital transformation significantly enhances corporate resilience, including both traditional resilience constructed using cross-sectional data and anticipated built panel data, in the face of COVID-19 pandemic. This finding is consistent across Ordinary Least Squares (OLS) generalized Difference-in-Differences (DID) analyses. Moreover, enhancing effect more pronounced for firms located regions with a low level economy, labour-...

An adaptive unscented Kalman filter is presented, in this algorithm, modified Sage-Husa noise statistics estimator introduced to estimate the process variances adaptively. The nonlinear applied INS alignment with large azimuth error. Simulation results show that Unscented performance well special case.

Network Virtualization is a promising way to deploy future network architectures supporting diverse virtual networks sharing the substrate network. But increased flexibility poses daunting challenge management and control of resources ensure efficient resource utilization QoS guarantee. In this paper, we propose an architecture based on hierarchical multi-domain mechanism that allows for separate Management Elements responsible corresponding domain's assignment individually executing...

Network Virtualization is a promising way to overcome the weaknesses of current Internet. However, how solve problem management and control virtual resources obtain efficient resource utilization faces great challenges. In this paper, we propose framework multi-domain hierarchy reduce complexity improve efficiency management. The architecture composed centralized Control System separate Management Elements. Element gathers information from underlying infrastructure provider. With...

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This paper aims to address the challenge of sparse and missing data in recommendation systems, a significant hurdle age big data. Traditional imputation methods struggle capture complex relationships within We propose novel approach that fine-tune Large Language Model (LLM) use it impute for systems. LLM which is trained on vast amounts text, able understand relationship among intelligently fill information. enriched then used by system generate more accurate personalized suggestions,...

Brain magnetic resonance (MR) images have been widely used for analyzing brain diseases. However, due to the existence of noise and intensity inhomogeneity, many segmentation methods are hard find accurate resuslts. This paper presents a novel variational framework registration, bias estimation simultaneously. We first presented an improved model by using local region information, which can estimate field meanwhile segmenting images. Then, we defined coupled term combine registration method....

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