Vast planes of satellites in a high resolution simulation of the Local Group: comparison to Andromeda

We search for vast planes of satellites (VPoS) in a high resolution simulation of the Local Group performed by the CLUES project, which improves significantly the resolution of former similar studies. We use a simple method for detecting planar configurations of satellites, and validate it on the known plane of M31. We implement a range of prescriptions for modelling the satellite populations, roughly reproducing the variety of recipes used in the literature, and investigate the occurence and properties of planar structures in these populations. The structure of the simulated satellite systems is strongly non-random and contains planes of satellites, predominantly co-rotating, with, in some cases, sizes comparable to the plane observed in M31 by Ibata et al.. However the latter is slightly richer in satellites, slightly thinner and has stronger co-rotation, which makes it stand out as overall more exceptional than the simulated planes, when compared to a random population. Although the simulated planes we find are generally dominated by one real structure, forming its backbone, they are also partly fortuitous and are thus not kinematically coherent structures as a whole. Provided that the simulated and observed planes of satellites are indeed of the same nature, our results suggest that the VPoS of M31 is not a coherent disc and that one third to one half of its satellites must have large proper motions perpendicular to the plane

Aggressive Quadrotor Flight through Narrow Gaps with Onboard Sensing and Computing using Active Vision

We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap position and orientation, we rely solely on onboard sensing and computing and estimate the full state by fusing gap detection from a single onboard camera with an IMU. This problem is challenging for two reasons: (i) the quadrotor pose uncertainty with respect to the gap increases quadratically with the distance from the gap; (ii) the quadrotor has to actively control its orientation towards the gap to enable state estimation (i.e., active vision). We solve this problem by generating a trajectory that considers geometric, dynamic, and perception constraints: during the approach maneuver, the quadrotor always faces the gap to allow state estimation, while respecting the vehicle dynamics; during the traverse through the gap, the distance of the quadrotor to the edges of the gap is maximized. Furthermore, we replan the trajectory during its execution to cope with the varying uncertainty of the state estimate. We successfully evaluate and demonstrate the proposed approach in many real experiments. To the best of our knowledge, this is the first work that addresses and achieves autonomous, aggressive flight through narrow gaps using only onboard sensing and computing and without prior knowledge of the pose of the gap

Slow Adaptive OFDMA Systems Through Chance Constrained Programming

Adaptive OFDMA has recently been recognized as a promising technique for providing high spectral efficiency in future broadband wireless systems. The research over the last decade on adaptive OFDMA systems has focused on adapting the allocation of radio resources, such as subcarriers and power, to the instantaneous channel conditions of all users. However, such "fast" adaptation requires high computational complexity and excessive signaling overhead. This hinders the deployment of adaptive OFDMA systems worldwide. This paper proposes a slow adaptive OFDMA scheme, in which the subcarrier allocation is updated on a much slower timescale than that of the fluctuation of instantaneous channel conditions. Meanwhile, the data rate requirements of individual users are accommodated on the fast timescale with high probability, thereby meeting the requirements except occasional outage. Such an objective has a natural chance constrained programming formulation, which is known to be intractable. To circumvent this difficulty, we formulate safe tractable constraints for the problem based on recent advances in chance constrained programming. We then develop a polynomial-time algorithm for computing an optimal solution to the reformulated problem. Our results show that the proposed slow adaptation scheme drastically reduces both computational cost and control signaling overhead when compared with the conventional fast adaptive OFDMA. Our work can be viewed as an initial attempt to apply the chance constrained programming methodology to wireless system designs. Given that most wireless systems can tolerate an occasional dip in the quality of service, we hope that the proposed methodology will find further applications in wireless communications