arXiv subjects

Fu Zhang

Publications and source records attributed to Fu Zhang.

102 records · Page 6Linked to original sources

arXiv2019

A fast, complete, point cloud based loop closure for LiDAR odometry and mapping

This paper presents a loop closure method to correct the long-term drift in LiDAR odometry and mapping (LOAM). Our proposed method computes the 2D histogram of keyframes, a local map patch, and uses the normalized cross-correlation of the 2D histograms as the similarity metric between the current keyframe and those in the map. We show that this method is fast, invariant to rotation, and produces reliable and accurate loop detection. The proposed method is implemented with careful engineering and integrated into the LOAM algorithm, forming a complete and practical system ready to use. To benefit the community by serving a benchmark for loop closure, the entire system is made open source on Github

cs.RO↗

arXiv2019

Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV

LiDAR odometry and mapping (LOAM) has been playing an important role in autonomous vehicles, due to its ability to simultaneously localize the robot's pose and build high-precision, high-resolution maps of the surrounding environment. This enables autonomous navigation and safe path planning of autonomous vehicles. In this paper, we present a robust, real-time LOAM algorithm for LiDARs with small FoV and irregular samplings. By taking effort on both front-end and back-end, we address several fundamental challenges arising from such LiDARs, and achieve better performance in both precision and efficiency compared to existing baselines. To share our findings and to make contributions to the community, we open source our codes on Github

cs.RO↗

arXiv2019

Flying through a narrow gap using neural network: an end-to-end planning and control approach

In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an end-to-end policy network, which imitates from the traditional pipeline and is fine-tuned using reinforcement learning. Unlike previous works which plan dynamical feasible trajectories using motion primitives and track the generated trajectory by a geometric controller, our proposed method is an end-to-end approach which takes the flight scenario as input and directly outputs thrust-attitude control commands for the quadrotor. Key contributions of our paper are: 1) presenting an imitate-reinforce training framework. 2) flying through a narrow gap using an end-to-end policy network, showing that learning based method can also address the highly dynamic control problem as the traditional pipeline does (see attached video: https://www.youtube.com/watch?v=jU1qRcLdjx0). 3) propose a robust imitation of an optimal trajectory generator using multilayer perceptrons. 4) show how reinforcement learning can improve the performance of imitation learning, and the potential to achieve higher performance over the model-based method.

cs.RO↗

arXiv2019

Krylov-Safonov estimates for a degenerate diffusion process

This paper proves a Krylov-Safonov estimate for a multidimensional diffusion process whose diffusion coefficients are degenerate on the boundary. As applications the existence and uniqueness of invariant probability measures for the process and Hoelder estimates for the associated partial differential equation are obtained.

math.PR↗

arXiv2019

Full orientation control of epitaxial MoS2 on hBN assisted by substrate defects

Inversion asymmetry in two-dimensional materials grants them fascinating properties such as spin-coupled valley degrees of freedom and piezoelectricity, but at the cost of inversion domain boundaries if the epitaxy of the grown 2D layer -- on a polar substrate -- cannot adequately distinguish what are often near-degenerate 0° and 180° orientations. We employ first-principles calculations to identify a method to lift this near-degeneracy: the energetic distinction between eclipsed and staggered configurations during nucleation at a point defect in the substrate. For monolayer MoS2 grown on hexagonal boron nitride, the predicted defect complex can be more stable than common MoS2 point defects because it is both a donor-acceptor pair and a Frenkel pair shared between adjacent layers of a 2D heterostack. Orientation control is verified in experiments that achieve ~90% consistency in the orientation of as-grown triangular MoS2 flakes on hBN, as confirmed by aberration-corrected scanning/transmission electron microscopy. This defect-enhanced orientational epitaxy could provide a general mechanism to break the near-degeneracy of 0/180° orientations of polar 2D materials on polar substrates, overcoming a long-standing impediment to scalable synthesis of single-crystal 2D semiconductors.

cond-mat.mes-hall↗

arXiv2019

Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes

In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper concentrates on the design of the attitude controller and the altitude controller. For the attitude control, the controller's parameters and filters are optimized based on the frequency response model which is identified from the sweep experiment. As a result, the effect of system flexible modes is easily compensated in frequency-domain by using a notch filter, and the resulting attitude loop shows superior tracking performance and robustness. In the coordinated flight condition, the altitude controller is structured as the feedforward-feedback parallel controller. The feedforward thrust command is calculated based on the current speed and the pitch angle. Tests in hovering, forward accelerating and forward decelerating flights have been conducted to verify the proposed control system.

eess.SY↗

arXiv2018

Considerations for utilizing sodium chloride in epitaxial molybdenum disulfide

The utilization of alkali salts, such as NaCl and KI, have enabled the successful growth of large single domain and fully coalesced polycrystalline two-dimensional (2D) transition metal dichalcogenide layers. However, the impact of alkali salts on photonic and electronic properties are not fully established. In this work, we report alkali-free epitaxy of MoS2 on sapphire and benchmark the properties against alkali-assisted growth of MoS2. This study demonstrates that although NaCl can dramatically increase the domain size of monolayer MoS2 by 20 times, it can also induce strong optical and electronic heterogeneities in as-grown large-scale films. This work elucidates that utilization of NaCl can lead to variation in growth rates, loss of epitaxy, and a high density of nanoscale MoS2 particles (4/μm2). Such phenomena suggest that alkali atoms play an important role in Mo and S adatom mobility and strongly influence the 2D/sapphire interface during growth. Compared to alkali-free synthesis under the same growth conditions, MoS2 growth assisted by NaCl results in >1% tensile strain in as-grown domains, which reduces photoluminescence by ~20x and degrades transistor performance.

cond-mat.mtrl-sci↗

arXiv2018

Backward Stochastic Riccati Equation with Jumps associated with Stochastic Linear Quadratic Optimal Control with Jumps and Random Coefficients

In this paper, we investigate the solvability of matrix valued Backward stochastic Riccati equations with jumps (BSREJ), which is associated with a stochastic linear quadratic (SLQ) optimal control problem with random coefficients and driven by both Brownian motion and Poisson jumps. By dynamic programming principle, Doob-Meyer decomposition and inverse flow technique, the existence and uniqueness of the solution for the BSREJ is established. The difficulties addressed to this issue not only are brought from the high nonlinearity of the generator of the BSREJ like the case driven only by Brownian motion, but also from that i) the inverse flow of the controlled linear stochastic differential equation driven by Poisson jumps may not exist without additional technical condition, and ii) how to show the inverse matrix term involving jump process in the generator is well-defined. Utilizing the structure of the optimal problem, we overcome these difficulties and establish the existence of the solution. In additional, a verification theorem for BSREJ is given which implies the uniqueness of the solution.

math.OC↗

arXiv2018

Stochastic continuity of random fields governed by a system of stochastic PDEs

This paper constructs a solvability theory for a system of stochastic partial differential equations. On account of the Kolmogorov continuity theorem, solutions are looked for in certain Hölder-type classes in which a random field is treated as a space-time function taking values in $L^{p}$-space of random variables. A modified stochastic parabolicity condition involving $p$ is proposed to ensure the finiteness of the associated norm of the solution, which is showed to be sharp by examples. The Schauder-type estimates and the solvability theorem are proved.

math.PR↗

arXiv2017

Partial Information Stochastic Differential Games for Backward Stochastic Systems Driven By Lévy Processes

In this paper, we consider a partial information two-person zero-sum stochastic differential game problem where the system is governed by a backward stochastic differential equation driven by Teugels martingales associated with a Lévy process and an independent Brownian motion. One sufficient (a verification theorem) and one necessary conditions for the existence of optimal controls are proved. To illustrate the general results, a linear quadratic stochastic differential game problem is discussed.

math.OC↗

arXiv2016

Detecting facial landmarks in the video based on a hybrid framework

To dynamically detect the facial landmarks in the video, we propose a novel hybrid framework termed as detection-tracking-detection (DTD). First, the face bounding box is achieved from the first frame of the video sequence based on a traditional face detection method. Then, a landmark detector detects the facial landmarks, which is based on a cascaded deep convolution neural network (DCNN). Next, the face bounding box in the current frame is estimated and validated after the facial landmarks in the previous frame are tracked based on the median flow. Finally, the facial landmarks in the current frame are exactly detected from the validated face bounding box via the landmark detector. Experimental results indicate that the proposed framework can detect the facial landmarks in the video sequence more effectively and with lower consuming time compared to the frame-by-frame method via the DCNN.

cs.CV↗

arXiv2013

Path-Dependent Optimal Stochastic Control and Viscosity Solution of Associated Bellman Equations

In this paper we study the optimal stochastic control problem for a path-dependent stochastic system under a recursive path-dependent cost functional, whose associated Bellman equation from dynamic programming principle is a path-dependent fully nonlinear partial differential equation of second order. A novel notion of viscosity solutions is introduced. Using Dupire's functional Itô calculus, we characterize the value functional of the optimal stochastic control problem as the unique viscosity solution to the associated path-dependent Bellman equation.

math.OC↗