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ICUSAI 2019 2019 International Conference on Unmanned Systems and Artificial Intelligence November 15-17, 2019

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ICUSAI 2019 2019 International Conference on Unmanned Systems and Artificial Intelligence November 15-17, 2019 ICUSAI 2019 2019 International Conference on Unmanned Systems and Artificial Intelligence November 15-17, 2019 Shaanxi, China CONFERENCE DIGEST Organizers Northwestern Polytechnical Unmanned System Research Institute China Agricultural University University Sponsors: IEEE Systems, Man and IFAC Technical Committee on Economic, Business, Cybernetics Society and Financial Systems (TC 9.1) Conference Digest 2019 International Conference on Unmanned Systems and Artificial Intelligence IEEE ICUSAI 2019 Nov. 15-17, 2019 Shaanxi, China. Organized by Northwestern Polytechnical University, Shaanxi, China Unmanned System Research Institute, Shaanxi, China China Agricultural University, Beijing, China Technically cosponsored by IEEE Systems, Man and Cybernetics Society IEEE SMCA Technical Committee on Computational Psychophysiology IFAC Technical Committee on Economic, Business, and Financial Systems (TC 9.1) Foreword On behalf of the Organizing Committee, we sincerely welcome you to join us at the 2019 International Conference on Unmanned Systems and Artificial Intelligence (ICUSAI2019) being held in Shaanxi, China, during November 15-17, 2019. ICUSAI2019 aims to provide an international forum that brings together those actively involved in unmanned systems. It also provides a premier interdisciplinary platform for researchers, practitioners and educators to present and discuss the most recent innovations, trends, and concerns as well as practical challenges encountered and solutions adopted in the fields of unmanned systems. ICUSAI2019 attracted a total of 160 submissions involving the most advanced development and research coverage with reliability of unmanned systems, path planning and navigation, regulations, interoperability, airspace control, airspace management, airworthiness, biologically inspired unmanned systems, energy efficient unmanned systems, environmental issues, information security and anti-counterfeit, digital watermarking, multidimensional code, cryptography, network penetration, internet protocol, big data processing and application, big data storage and management, cloud computing, artificial intelligence and cybernetics, robotics & control systems， etc. According to the strict peer review of planning committee members and reviewers, 72 papers (acceptance rate 45%) were selected and included in the conference proceedings. Many organizations and volunteers made great contributions toward the success of this conference. We would like to express our sincere gratitude to IEEE Systems, Man and Cybernetics Society, and IFAC Technical Committee on Economic, Business, and Financial Systems (TC 9.1) for their sponsorship, Northwestern Polytechnical University, Unmanned System Research Institute and China Agricultural University for their Organization. We would also like to sincerely thank all the committee members for their great efforts in organizing the conference. Special thanks to all technical committee members and reviewers for their professional review to ensure the high quality of the meeting process. Finally, we would like to thank all speakers, authors, and participants for their great contribution and support to make ICUSAI2019 a success. We sincerely hope that all participants can gain academic achievements, enhance mutual communication, broaden their horizons and gain friendship in this conference! General Chair General Co-Chairs Program Chair Program Co-Chairs Prof. C. L. Philip Chen Prof. Junqiang Bai Prof. Zhaoyong Mao Prof. Junwei Han Prof. Panfeng Huang Prof. Rongxin Cui Prof. Guang Pan Prof. Wenxing Fu Location: Xigongda Chuangxin Building, Laodong South Road, BeiLin District, Xi’an, China. Welcome Message Welcome to the 2019 International Conference on Unmanned Systems and Artificial Intelligence (ICUSAI 2019)! ICUSAI 2019 provides an international forum that brings together those actively involved in unmanned systems. It also provides a premier interdisciplinary platform for researchers, practitioners and educators to present and discuss the most recent innovations, trends, and concerns as well as practical challenges encountered and solutions adopted in the fields of unmanned systems. We would like to take this opportunity to thank the Technical Program Committee comprising of many Area Chairs and Reviewers from all over the world, who have worked diligently to ensure that high quality papers will be presented and published in the proceedings. We also acknowledge the support of and express our sincere appreciation to the members of the local organizing committee. We are also grateful to the advice and guidance of the Executive Committee of the Northwestern Polytechnical University, China and the IEEE SMC Society (SMCS). Lastly and most importantly, we thank all of you, the authors and delegates, for participating in ICUSAI 2019, sharing your knowledge and experience and contributing to the advancement of science and technology for the improvement of the quality of our lives. We wish each and every one a most pleasant experience at ICUSAI 2019 in Shaanxi. C. L. Philip Chen Junqiang Bai Zhaoyong Mao Wenxing Fu General Chair General Co-Chair Program Chair Program Co-Chair ICUSAI 2019 ICUSAI 2019 ICUSAI 2019 ICUSAI 2019 IEEE ICCSS 2019 Conference Digest Table of Content Welcome Massage IEEE ICCSS 2019 Conference Committees ………………………………………..…i General Information…….…………………………………………………….…...…...iii Conference Registration..………………………………………………………….…...viii Program at a Glance…………….….…………………………………………………..ix Technical Program Schedule …………………………………………………………..1 Plenary Talks…………………………………………………………………………...10 Technical Sessions Regular Sessions ……………………………………………………………….……...25 Index of Authors ………………………….………. …………………………..………40 Committees General Chairs C. L. Philip Chen, South China University of Technology, China Junqiang Bai, Northwestern Polyt. University, China General Co-Chairs Panfeng Huang, Northwestern Polyt. University, China Guang Pan, Northwestern Polytechnical University, China Program Chair Zhaoyong Mao, Northwestern Polyt. University, China Junwei Han, Northwestern Polyt. University, China Program Co-Chairs Rongxin Cui, Northwest Polyt. University, China Wenxing Fu, Northwest Polyt. University, China Shuo Tang, Northwestern Polyt. University, China Zhunga Liu, Northwestern Polyt. University, China Organizing Committee Quan Pan, Northwestern Polyt. University, China Chairs Zichen Deng, Northwestern Polyt. University, China Jihong Zhu, Northwestern Polyt. University, China Mou Chen, Nanjing University of Aeronautics and Astronautics, China Wei Ren, University of California, Riverside, USA OrganizingCommittee Yang Shi, University of Victoria, Canada Co-Chairs Zhiyong Chen, The University of Newcastle, Australia Yan-Jun Liu, Liaoning University of Tech., China Award Committee Jian Sun, Beijing Institute of Technology, China Chairs Wei He, University of Science and Tech. Beijing, China Award Committee Xiao He, Tsinghua University, China Co-Chairs Long Cheng, Chinese Academy of Sciences, China Zhulin Liu, University of Macau, Macau, China Poster Session Chairs Chao Shen, Xi’an Jiaotong University, China Xiwang Dong, Beihang University, China Publicity Chairs Lorenzo Marconi, University of Bologna, Italy Publicity Co-Chairs Ya-Jun Pan, Dalhousie University, Canada i Hongyi Li, Bohai University, China Jinhui Zhang, Beijing Institute of Technology, China Special Session Chairs Deyuan Meng, Beihang University, China Mouquan Shen, Nanjing Tech University, China Jian Chen, China Agricultrual University, China Local Arrangement Qiuyue Wang, Northwestern Polytechnical University, China Chairs Registration Chair Tong Zhang, South China Univ. of Tech., China Tong Zhang, South China University of Tech., China Publication Chairs Long Chen, University of Macau, Macau, China Xueyan Kang, South China University of Technology, China Secretaries Hanyun Ye, South China University of Technology, China ii General Information AO XIANG International Conference Center (西安翱翔国际会议中心)) is located at Xigongda Chuangxin Building, Laodong South Road, BeiLin District, Xi’an. The hotel has a variety of professional services including special luxury rooms, executive lounge, first-class restaurants, coffee bar, international conference center, hot spring spa, fitness center, business center and so on. Transportation Information Route 1: (about 1 hour and 30 minutes) 机场大巴高新区丽柏酒店线 Xi’an Xianyang International Airport(西安咸阳国际机场) Ziction Liberal Hotel Station Come out from Exit 1cand walk about 1500 meters. Route 2:(about 1 hour and 6 minutes) Line 2 Walk about 460m Xi’anbei Railway Station(西安北站) Yongning Gate Station(永宁门站) Weiqunan direction 184 Road Nanmenwai Station(南门外站) Xigongdaximen Station(西工大西门站) Come out from Exit 1Cand walk about 140 meters. iii Surrounding Hotels Le Garden Hotel (西安骊苑大酒店) The Le Garden Hotel (Liyuan Jiudian) is located in central Xi'an, approximately 47 km (29 mi) from Xianyang International Airport. Xi'an Railway Station is about 8 km (5 mi) away. Diners can enjoy Chinese and Western dishes at the on-site restaurants. A lobby bar and cafe serve drinks. Business travelers are invited to make the most of the business center and meeting rooms. In their leisure time, guests can head to the gym for a workout or enjoy a game of pool in the billiards hall. This Xi'an hotel provides free parking and free Wi-Fi in public areas. Hanbang Boutique Hotel (西安汉邦精致酒店) The Hanbang Boutique Hotel (Hanbang Jingzhi Jiudian) is located within easy reach of the airport shuttle bus Gaoxin stop. Xianyang International Airport is approximately
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