Distributed tracking control of leader-follower multi-agent systems under noisy measurement

In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower can only measure relative positions of its neighbors in a noisy environment, including the relative position of the second-order active leader. A neighbor-based tracking protocol together with distributed estimators is designed based on a novel velocity decomposition technique. It is shown that the closed loop tracking control system is stochastically stable in mean square and the estimation errors converge to zero in mean square as well. A simulation example is finally given to illustrate the performance of the proposed control scheme.Comment: 8 Pages, 3 figure

Study of Nonleptonic B(s)∗→M1M2B^{\ast}_{(s)}\to M_1 M_2 (M=D(M=D, DsD_s, π\pi, K)K) Weak Decays with Factorization Approach

Motivated by the experiments of heavy flavor physics at running LHC and upgrading SuperKEKB/Belle-II in the future, the nonleptonic $B^{\ast}_{(s)}\to M_1 M_2$ $(M=D$, $D_s$, $\pi$, $K)$ weak decays are studied in this paper. The amplitudes are calculated with factorization approach, and the transition form factors $A_0^{B^{\ast}_{(s)}\to M_1}(0)$ are evaluated within BSW model. With the reasonable approximation $\Gamma_{tot}(B^*_{(s)})\simeq \Gamma(B^*_{(s)}\to B_{(s)}\gamma)$, our predictions of branching fractions are presented. Numerically, the CKM-favored tree-dominated $\bar{B}^{*0} \to D^+D^-_s$ and $\bar{B}^{*0}_s \to D^+_sD^-_s$ decays have the largest branching fractions of the order $\sim{\cal O}(10^{-8})$, and hence will be firstly observed by forthcoming Belle-II experiment. However, most of the other decay modes have the branching fractions~$<{\cal O}(10^{-9})$ and thus are hardly to be observed soon. Besides, for the possible detectable $B^{\ast}_{(s)}$ decays with branching fractions $\gtrsim{\cal O}(10^{-9})$, some useful ratios, such as $R_D$ {\it et al.,} are presented and discussed in detail.Comment: 17 pages, 5 tables, the version published in International Journal of Modern Physics

Zero-Shot Recognition using Dual Visual-Semantic Mapping Paths

Zero-shot recognition aims to accurately recognize objects of unseen classes by using a shared visual-semantic mapping between the image feature space and the semantic embedding space. This mapping is learned on training data of seen classes and is expected to have transfer ability to unseen classes. In this paper, we tackle this problem by exploiting the intrinsic relationship between the semantic space manifold and the transfer ability of visual-semantic mapping. We formalize their connection and cast zero-shot recognition as a joint optimization problem. Motivated by this, we propose a novel framework for zero-shot recognition, which contains dual visual-semantic mapping paths. Our analysis shows this framework can not only apply prior semantic knowledge to infer underlying semantic manifold in the image feature space, but also generate optimized semantic embedding space, which can enhance the transfer ability of the visual-semantic mapping to unseen classes. The proposed method is evaluated for zero-shot recognition on four benchmark datasets, achieving outstanding results.Comment: Accepted as a full paper in IEEE Computer Vision and Pattern Recognition (CVPR) 201

Schwarzschild-de Sitter Metric and Inertial Beltrami Coordinates

Under consideration of coordinate conditions, we get the Schwarzschild-Beltrami-de Sitter (S-BdS) metric solution of the Einstein field equations with a cosmological constant $\Lambda$. A brief review to the de Sitter invariant special relativity (dS-SR), and de Sitter general relativity (dS-GR, or GR with a $\Lambda$) is presented. The Beltrami metric $B_{\mu\nu}$ provides inertial reference frame for the dS-spacetime. By examining the Schwarzschild-de Sitter (S-dS) metric $g_{\mu\nu}^{(M)}$ existed in literatures since 1918, we find that the existed S-dS metric $g_{\mu\nu}^{(M)}$ describes some mixing effects of gravity and inertial-force, instead of a pure gravity effect arisen from "solar mass" $M$ in dS-GR. In this paper, we solve the vacuum Einstein equation of dS-GR, with the requirement of gravity-free metric $g_{\mu\nu}^{(M)}|_{M\rightarrow 0}=B_{\mu\nu}$. In this way we find S-BdS solution of dS-GR, written in inertial Beltrami coordinates. This is a new form of S-dS metric. Its physical meaning and possible applications are discussed.Comment: 16 pages, 1 figur