Fault-tolerant formation driving mechanism designed for heterogeneous MAVs-UGVs groups

A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

The Sunrise Mission

The first science flight of the balloon-borne \Sunrise telescope took place in June 2009 from ESRANGE (near Kiruna/Sweden) to Somerset Island in northern Canada. We describe the scientific aims and mission concept of the project and give an overview and a description of the various hardware components: the 1-m main telescope with its postfocus science instruments (the UV filter imager SuFI and the imaging vector magnetograph IMaX) and support instruments (image stabilizing and light distribution system ISLiD and correlating wavefront sensor CWS), the optomechanical support structure and the instrument mounting concept, the gondola structure and the power, pointing, and telemetry systems, and the general electronics architecture. We also explain the optimization of the structural and thermal design of the complete payload. The preparations for the science flight are described, including AIV and ground calibration of the instruments. The course of events during the science flight is outlined, up to the recovery activities. Finally, the in-flight performance of the instrumentation is briefly summarized.Comment: 35 pages, 17 figure

VNect: Real-time 3D Human Pose Estimation with a Single RGB Camera

We present the first real-time method to capture the full global 3D skeletal pose of a human in a stable, temporally consistent manner using a single RGB camera. Our method combines a new convolutional neural network (CNN) based pose regressor with kinematic skeleton fitting. Our novel fully-convolutional pose formulation regresses 2D and 3D joint positions jointly in real time and does not require tightly cropped input frames. A real-time kinematic skeleton fitting method uses the CNN output to yield temporally stable 3D global pose reconstructions on the basis of a coherent kinematic skeleton. This makes our approach the first monocular RGB method usable in real-time applications such as 3D character control---thus far, the only monocular methods for such applications employed specialized RGB-D cameras. Our method's accuracy is quantitatively on par with the best offline 3D monocular RGB pose estimation methods. Our results are qualitatively comparable to, and sometimes better than, results from monocular RGB-D approaches, such as the Kinect. However, we show that our approach is more broadly applicable than RGB-D solutions, i.e. it works for outdoor scenes, community videos, and low quality commodity RGB cameras.Comment: Accepted to SIGGRAPH 201

Numerical Methods for the 3-dimensional 2-body Problem in the Action-at-a-Distance Electrodynamics

We develop two numerical methods to solve the differential equations with deviating arguments for the motion of two charges in the action-at-a-distance electrodynamics. Our first method uses St\"urmer's extrapolation formula and assumes that a step of integration can be taken as a step of light ladder, which limits its use to shallow energies. The second method is an improvement of pre-existing iterative schemes, designed for stronger convergence and can be used at high-energies.Comment: 17 pages, 11 figure