The multi-agent rotor-router on the ring: a deterministic alternative to parallel random walks

International audienceThe rotor-router mechanism was introduced as a deterministic alternative to the random walk in undirected graphs. In this model, an agent is initially placed at one of the nodes of the graph. Each node maintains a cyclic ordering of its outgoing arcs, and during successive visits of the agent, propagates it along arcs chosen according to this ordering in round-robin fashion. The behavior of the rotor-router is fully deterministic but its performance characteristics (cover time, return time) closely resemble the expected values of the corresponding parameters of the random walk. In this work Research partially supported by the ANR Project DISPLEXITY (ANR-11-BS02-014). This study has been carried out in the frame of the Investments for the future Programme IdEx Bordeaux-CP

Outdoor operations of multiple quadrotors in windy environment

Coordinated multiple small unmanned aerial vehicles (sUAVs) offer several advantages over a single sUAV platform. These advantages include improved task efficiency, reduced task completion time, improved fault tolerance, and higher task flexibility. However, their deployment in an outdoor environment is challenging due to the presence of wind gusts. The coordinated motion of a multi-sUAV system in the presence of wind disturbances is a challenging problem when considering collision avoidance (safety), scalability, and communication connectivity. Performing wind-agnostic motion planning for sUAVs may produce a sizeable cross-track error if the wind on the planned route leads to actuator saturation. In a multi-sUAV system, each sUAV has to locally counter the wind disturbance while maintaining the safety of the system. Such continuous manipulation of the control effort for multiple sUAVs under uncertain environmental conditions is computationally taxing and can lead to reduced efficiency and safety concerns. Additionally, modern day sUAV systems are susceptible to cyberattacks due to their use of commercial wireless communication infrastructure. This dissertation aims to address these multi-faceted challenges related to the operation of outdoor rotor-based multi-sUAV systems. A comprehensive review of four representative techniques to measure and estimate wind speed and direction using rotor-based sUAVs is discussed. After developing a clear understanding of the role wind gusts play in quadrotor motion, two decentralized motion planners for a multi-quadrotor system are implemented and experimentally evaluated in the presence of wind disturbances. The first planner is rooted in the reinforcement learning (RL) technique of state-action-reward-state-action (SARSA) to provide generalized path plans in the presence of wind disturbances. While this planner provides feasible trajectories for the quadrotors, it does not provide guarantees of collision avoidance. The second planner implements a receding horizon (RH) mixed-integer nonlinear programming (MINLP) model that is integrated with control barrier functions (CBFs) to guarantee collision-free transit of the multiple quadrotors in the presence of wind disturbances. Finally, a novel communication protocol using Ethereum blockchain-based smart contracts is presented to address the challenge of secure wireless communication. The U.S. sUAV market is expected to be worth $92 Billion by 2030. The Association for Unmanned Vehicle Systems International (AUVSI) noted in its seminal economic report that UAVs would be responsible for creating 100,000 jobs by 2025 in the U.S. The rapid proliferation of drone technology in various applications has led to an increasing need for professionals skilled in sUAV piloting, designing, fabricating, repairing, and programming. Engineering educators have recognized this demand for certified sUAV professionals. This dissertation aims to address this growing sUAV-market need by evaluating two active learning-based instructional approaches designed for undergraduate sUAV education. The two approaches leverages the interactive-constructive-active-passive (ICAP) framework of engagement and explores the use of Competition based Learning (CBL) and Project based Learning (PBL). The CBL approach is implemented through a drone building and piloting competition that featured 97 students from undergraduate and graduate programs at NJIT. The competition focused on 1) drone assembly, testing, and validation using commercial off-the-shelf (COTS) parts, 2) simulation of drone flight missions, and 3) manual and semi-autonomous drone piloting were implemented. The effective student learning experience from this competition served as the basis of a new undergraduate course on drone science fundamentals at NJIT. This undergraduate course focused on the three foundational pillars of drone careers: 1) drone programming using Python, 2) designing and fabricating drones using Computer-Aided Design (CAD) and rapid prototyping, and 3) the US Federal Aviation Administration (FAA) Part 107 Commercial small Unmanned Aerial Vehicles (sUAVs) pilot test. Multiple assessment methods are applied to examine the students’ gains in sUAV skills and knowledge and student attitudes towards an active learning-based approach for sUAV education. The use of active learning techniques to address these challenges lead to meaningful student engagement and positive gains in the learning outcomes as indicated by quantitative and qualitative assessments

Universal Smart Grid Agent for Distributed Power Generation Management

"Somewhere, there is always wind blowing or the sun shining." This maxim could lead the global shift from fossil to renewable energy sources, suggesting that there is enough energy available to be turned into electricity. But the already impressive numbers that are available today, along with the European Union's 20-20-20 goal – to power 20% of the EU energy consumption from renewables until 2020 –, might mislead us over the problem that the go-to renewables readily available rely on a primary energy source mankind cannot control: the weather. At the same time, the notion of the smart grid introduces a vast array of new data coming from sensors in the power grid, at wind farms, power plants, transformers, and consumers. The new wealth of information might seem overwhelming, but can help to manage the different actors in the power grid. This book proposes to view the problem of power generation and distribution in the face of increased volatility as a problem of information distribution and processing. It enhances the power grid by turning its nodes into agents that forecast their local power balance from historical data, using artificial neural networks and the multi-part evolutionary training algorithm described in this book. They pro-actively communicate power demand and supply, adhering to a set of behavioral rules this book defines, and finally solve the 0-1 knapsack problem of choosing offers in such a way that not only solves the disequilibrium, but also minimizes line loss, by elegant modeling in the Boolean domain. The book shows that the Divide-et-Impera approach of a distributed grid control can lead to an efficient, reliable integration of volatile renewable energy sources into the power grid

Semantic software scouts for information retrieval

A new concept for information storage and retrieval is proposed that links chunks of information within and among documents based on semantic relationships and uses those connections to efficiently retrieve all the information that closely matches the user\u27s request. The storage method is semantic hypertext, in which conventional hypertext links are enriched with semantic information that includes the strength and type of the relationship between the chunks of information being linked. A retrieval method was devised in which a set of cooperating software agents, called scouts, traverse the connections simultaneously searching for requested information. By communicating with each other and a central controller to coordinate the search, the scouts are able to achieve high recall and high precision and perform extremely efficiently.;An attempt to develop a document base connected by semantic hypertext is described. Because of the difficulties encountered in the attempt, it was concluded that there is no satisfactory method for automatic generation of semantic hypertext from real documents. The collection of semantically linked documents used in this research was generated synthetically.;A Java-based agent framework used to develop three types of software scouts. In the simplest implementation, Scoutmaster, the paths of the scouts through the document base were specified by a central controller. The only task of each scout was to follow the links specified by the central controller. In the next level of autonomy, Broadcaster, the controller was used strictly as a conduit for scouts to exchange messages. The controller received information from the scouts and broadcast it to all of the other scouts to use in determining their actions. In the final implementation, Melee, the central controller was used only to inaugurate the scout searches. After initialization, the scouts broadcast their messages to all the other scouts.;Experiments were performed to test the ability of the scouts to find information in two synthetically created document sets. All scout types were able to find all of specified information, i.e. high recall, while searching few documents that did not contain the information, i.e. high precision. Using groups of scouts, the best time to search document sets with up to 3000 documents and 2.5 million links was about thirty seconds

Low-Cost UAV Swarm for Real-Time Object Detection Applications

With unmanned aerial vehicles (UAVs), also known as drones, becoming readily available and affordable, applications for these devices have grown immensely. One type of application is the use of drones to fly over large areas and detect desired entities. For example, a swarm of drones could detect marine creatures near the surface of the ocean and provide users the location and type of animal found. However, even with the reduction in cost of drone technology, such applications result costly due to the use of custom hardware with built-in advanced capabilities. Therefore, the focus of this thesis is to compile an easily customizable, low-cost drone design with the necessary hardware for autonomous behavior, swarm coordination, and on-board object detection capabilities. Additionally, this thesis outlines the necessary network architecture to handle the interconnection and bandwidth requirements of the drone swarm. The drone on-board system uses a PixHawk 4 flight controller to handle flight mechanics, a Raspberry Pi 4 as a companion computer for general-purpose computing power, and a NVIDIA Jetson Nano Developer Kit to perform object detection in real-time. The implemented network follows the 802.11s standard for multi-hop communications with the HWMP routing protocol. This topology allows drones to forward packets through the network, significantly extending the flight range of the swarm. Our experiments show that the selected hardware and implemented network can provide direct point-to-point communications at a range of up to 1000 feet, with extended range possible through message forwarding. The network also provides sufficient bandwidth for bandwidth intensive data such as live video streams. With an expected flight time of about 17 minutes, the proposed design offers a low-cost drone swarm solution for mid-range aerial surveillance applications

Contribution to the operation of smart rural distribution grid with energy resources for improvement of the quality of service

This Thesis aims for contributing in the deployment and operation of Smart Grid, in isolated rural areas. As it would be expected, technological developments and investments in the electrical field have mainly focused on urban and industrial areas where the energy demand is high, as well as, the possibility to recover easily the investment. Therefore, difficult accessing areas where population and electrical demand are low are less attractive to invest. For this reason, this Thesis, in parallel to the European project known as Smart Rural Grid, has focused on the rural grid development. In this sense, the Thesis contributes directly in the design, conception and justification of an innovate architecture for rural systems. The architecture has been deployed and tested at the end of a medium voltage line of Estabanell Energia in Vallfogona del Ripollès. In addition, the presented architecture is characterised to integrate power electronics with embedded battery systems, an innovative management system and a proper telecommunication network in order to gain robustness, flexibility and hosting capacity for distributed and renewable generation. To sum up, the Thesis has focused on the design and development of new operation modes, algorithms and equipment that allow to manage automatically and optimally the energy resources; like power electronics, energy storage systems, distributed and renewable generation, and controllable loads. These strategies are able to correct common issues in rural grids, such as voltage variations and electrical losses. In addition, they improve and ensure the power quality and supply continuity, contribute to reduce operational costs and infrastructure optimization and deferral.Aquesta tesi vol contribuir en el desplegament de les futures xarxes elèctriques intel.ligents, en entorns rurals que habitualment són oblidats. Cal mencionar que els principals avenços tecnològics i les inversions per part dels gestors de la xarxa s'han centrat en entorns urbans i industrials, ja que aquests solen demandar grans quantitats d'energia, fet que facilita la recuperació de la inversió. Per tant, en un entorn on la densitat de població i la demanda energètica és baixa i a més l'orografia és complexa resulta menys atractiu invertir-hi. Per aquest motiu, la tesi, en paral.lel al projecte Europeu Smart Rural Grid, s'ha centrat en el desenvolupament de les xarxes elèctriques en entorns rurals. El principal objectiu de la tesi i alhora del projecte Smart Rural Grid és desenvolupar tecnologies per concebre les futures xarxes en entorns rurals. Aquestes han de permetre incrementar la baixa eficiència, qualitat i resiliència de la xarxa. En aquest sentit, la tesi ha contribuït en la concepció, disseny i justificació d'una innovadora arquitectura. Aquesta arquitectura, s'ha dut a terme en el final d'una línia de mitja tensió d'Estabanell Energia a Vallfogona del Ripollès. A més, aquesta arquitectura es caracteritza per integrar electrònica de potència, sistemes elèctrics d'emmagatzemament, un innovador sistema de gestió i de telecomunicacions, poden proporcionar a la xarxa una major robustesa, flexibilitat i capacitat per integrar a la nova generació distribuïda i renovable. D'altre banda, la Tesi també s'ha centrat en la concepció i desenvolupament de nous modes d'operació, algoritmes i dispositius que permeten automatitzar i optimitzar la gestió dels recursos distribuïts; és a dir, la electrònica de potència, els sistemes d'emmagatzemament, la generació renovable i distribuïda i les càrregues controlables. Aquestes estratègies permeten solventar els problemes habituals en aquest tipus de xarxes, com per exemple les variacions de tensió i les pèrdues. A més, també milloren i asseguren la qualitat i continuïtat del subministrament, ajuden a reduir els costos d'operació i retrassar la inversió en nova infraestructur