Decentralized High Level Controller for Formation Flight Control of UAVs

International audienceThe main contribution of this paper is the design of a decentralized and tuning-less high level controller able to maintain without tracking errors a Leader-Follower (LF) configuration in case of lack or degraded communications (latencies, loss…) between the leader and followers UAVs. The high level controller only requires simple tunings and rests on a predictive filtering algorithm and a first order dynamic model to recover an estimation of the leader UAV velocities and avoid the tracking errors

Spacecraft formation keeping and reconfiguration using optimal visual servoing

This paper proposes a direct visual servoing system for spacecraft guidance in formation flying scenarios. The proposed image-based visual servoing system uses image information for planning and executing formation acquisition, reconfiguration, and maintenance maneuvers. The system assumes that LEDs are located at specific points on the satellites, enabling the visual servoing controller to rely on continuous tracking of these features in the camera’s image plane. Analytical developments demonstrate that the proposed optimal visual control system is stable and optimal, and it acts on both the orbital and attitude dynamics of the spacecraft, considering circular and elliptical reference orbits. The distributed image-based controller defines a cost function that minimizes control efforts, and the paper proses an optimal framework for developing controllers that address the issue. A ROS-based simulation tool was used to test the proposed visual servoing controller in a realistic small-sat formation flying scenario. Results indicate that the proposed distributed control strategy is viable and robust against environmental perturbations and disturbances in sensing and actuation.This research was supported by the grant CIAICO/2022/077 “Plataforma de control y simulación de código abierto para escenarios de robótica de servicio en órbita” (Programa AICO 2023, Conselleria de Innovación, Universidades, Ciencia y Sociedad Digital de la Generalitat Valenciana, Spain)

Swarm Robotics

Collectively working robot teams can solve a problem more efficiently than a single robot, while also providing robustness and flexibility to the group. Swarm robotics model is a key component of a cooperative algorithm that controls the behaviors and interactions of all individuals. The robots in the swarm should have some basic functions, such as sensing, communicating, and monitoring, and satisfy the following properties

Multi-Agent Systems

A multi-agent system (MAS) is a system composed of multiple interacting intelligent agents. Multi-agent systems can be used to solve problems which are difficult or impossible for an individual agent or monolithic system to solve. Agent systems are open and extensible systems that allow for the deployment of autonomous and proactive software components. Multi-agent systems have been brought up and used in several application domains

Management, Technology and Learning for Individuals, Organisations and Society in Turbulent Environments

This book presents the collection of fifty papers which were presented in the Second International Conference on BUSINESS SUSTAINABILITY 2011 - Management, Technology and Learning for Individuals, Organisations and Society in Turbulent Environments , held in Póvoa de Varzim, Portugal, from 22ndto 24thof June, 2011.The main motive of the meeting was growing awareness of the importance of the sustainability issue. This importance had emerged from the growing uncertainty of the market behaviour that leads to the characterization of the market, i.e. environment, as turbulent. Actually, the characterization of the environment as uncertain and turbulent reflects the fact that the traditional technocratic and/or socio-technical approaches cannot effectively and efficiently lead with the present situation. In other words, the rise of the sustainability issue means the quest for new instruments to deal with uncertainty and/or turbulence. The sustainability issue has a complex nature and solutions are sought in a wide range of domains and instruments to achieve and manage it. The domains range from environmental sustainability (referring to natural environment) through organisational and business sustainability towards social sustainability. Concerning the instruments for sustainability, they range from traditional engineering and management methodologies towards “soft” instruments such as knowledge, learning, and creativity. The papers in this book address virtually whole sustainability problems space in a greater or lesser extent. However, although the uncertainty and/or turbulence, or in other words the dynamic properties, come from coupling of management, technology, learning, individuals, organisations and society, meaning that everything is at the same time effect and cause, we wanted to put the emphasis on business with the intention to address primarily companies and their businesses. Due to this reason, the main title of the book is “Business Sustainability 2.0” but with the approach of coupling Management, Technology and Learning for individuals, organisations and society in Turbulent Environments. Also, the notation“2.0” is to promote the publication as a step further from our previous publication – “Business Sustainability I” – as would be for a new version of software. Concerning the Second International Conference on BUSINESS SUSTAINABILITY, its particularity was that it had served primarily as a learning environment in which the papers published in this book were the ground for further individual and collective growth in understanding and perception of sustainability and capacity for building new instruments for business sustainability. In that respect, the methodology of the conference work was basically dialogical, meaning promoting dialog on the papers, but also including formal paper presentations. In this way, the conference presented a rich space for satisfying different authors’ and participants’ needs. Additionally, promoting the widest and global learning environment and participation, in accordance with the Conference's assumed mission to promote Proactive Generative Collaborative Learning, the Conference Organisation shares/puts open to the community the papers presented in this book, as well as the papers presented on the previous Conference(s). These papers can be accessed from the conference webpage (http://labve.dps.uminho.pt/bs11). In these terms, this book could also be understood as a complementary instrument to the Conference authors’ and participants’, but also to the wider readerships’ interested in the sustainability issues. The book brought together 107 authors from 11 countries, namely from Australia, Belgium, Brazil, Canada, France, Germany, Italy, Portugal, Serbia, Switzerland, and United States of America. The authors “ranged” from senior and renowned scientists to young researchers providing a rich and learning environment. At the end, the editors hope, and would like, that this book to be useful, meeting the expectation of the authors and wider readership and serving for enhancing the individual and collective learning, and to incentive further scientific development and creation of new papers. Also, the editors would use this opportunity to announce the intention to continue with new editions of the conference and subsequent editions of accompanying books on the subject of BUSINESS SUSTAINABILITY, the third of which is planned for year 2013.info:eu-repo/semantics/publishedVersio

Task Allocation in Foraging Robot Swarms:The Role of Information Sharing

Autonomous task allocation is a desirable feature of robot swarms that collect and deliver items in scenarios where congestion, caused by accumulated items or robots, can temporarily interfere with swarm behaviour. In such settings, self-regulation of workforce can prevent unnecessary energy consumption. We explore two types of self-regulation: non-social, where robots become idle upon experiencing congestion, and social, where robots broadcast information about congestion to their team mates in order to socially inhibit foraging. We show that while both types of self-regulation can lead to improved energy efficiency and increase the amount of resource collected, the speed with which information about congestion flows through a swarm affects the scalability of these algorithms