Nonlinear Model Predictive Control for Multi-Micro Aerial Vehicle Robust Collision Avoidance

Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is employed to achieve simultaneously reference trajectory tracking and collision avoidance. Moreover, we also account for the uncertainty of the state estimator and the other agents position and velocity uncertainties to achieve a higher degree of robustness. The proposed approach is decentralized, does not require collision-free reference trajectory and accounts for the full MAV dynamics. We validated our approach in simulation and experimentally.Comment: Video available on: https://www.youtube.com/watch?v=Ot76i9p2ZZo&t=40

Abstract Diagnosis for Timed Concurrent Constraint programs

The Timed Concurrent Constraint Language (tccp in short) is a concurrent logic language based on the simple but powerful concurrent constraint paradigm of Saraswat. In this paradigm, the notion of store-as-value is replaced by the notion of store-as-constraint, which introduces some differences w.r.t. other approaches to concurrency. In this paper, we provide a general framework for the debugging of tccp programs. To this end, we first present a new compact, bottom-up semantics for the language that is well suited for debugging and verification purposes in the context of reactive systems. We also provide an abstract semantics that allows us to effectively implement debugging algorithms based on abstract interpretation. Given a tccp program and a behavior specification, our debugging approach automatically detects whether the program satisfies the specification. This differs from other semiautomatic approaches to debugging and avoids the need to provide symptoms in advance. We show the efficacy of our approach by introducing two illustrative examples. We choose a specific abstract domain and show how we can detect that a program is erroneous.Comment: 16 page

Temporal Stream Algebra

Data stream management systems (DSMS) so far focus on event queries and hardly consider combined queries to both data from event streams and from a database. However, applications like emergency management require combined data stream and database queries. Further requirements are the simultaneous use of multiple timestamps after different time lines and semantics, expressive temporal relations between multiple time-stamps and exible negation, grouping and aggregation which can be controlled, i. e. started and stopped, by events and are not limited to fixed-size time windows. Current DSMS hardly address these requirements. This article proposes Temporal Stream Algebra (TSA) so as to meet the afore mentioned requirements. Temporal streams are a common abstraction of data streams and data- base relations; the operators of TSA are generalizations of the usual operators of Relational Algebra. A in-depth 'analysis of temporal relations guarantees that valid TSA expressions are non-blocking, i. e. can be evaluated incrementally. In this respect TSA differs significantly from previous algebraic approaches which use specialized operators to prevent blocking expressions on a "syntactical" level

The CIFF Proof Procedure for Abductive Logic Programming with Constraints: Theory, Implementation and Experiments

We present the CIFF proof procedure for abductive logic programming with constraints, and we prove its correctness. CIFF is an extension of the IFF proof procedure for abductive logic programming, relaxing the original restrictions over variable quantification (allowedness conditions) and incorporating a constraint solver to deal with numerical constraints as in constraint logic programming. Finally, we describe the CIFF system, comparing it with state of the art abductive systems and answer set solvers and showing how to use it to program some applications. (To appear in Theory and Practice of Logic Programming - TPLP)