A Fuzzy Guidance System for Rendezvous and Pursuit of Moving Targets

This article presents the development of a fuzzy guidance system (FGS) for unmanned aerial vehicles capable of pursuing and performing rendezvous with static and mobile targets. The system is designed to allow the vehicle to approach a maneuvering target from a desired direction of arrival and to terminate the rendezvous at a constant distance from the target. In order to perform a rendezvous with a maneuvering target, the desired direction of arrival is adjusted over time to always approach the target from behind, so that the aircraft and target velocity vectors become aligned. The proposed guidance system assumes the presence of an autopilot and uses a set of Takagi–Sugeno fuzzy controllers to generate the orientation and speed references for the velocity and heading control loops, given the relative position and velocity between the aircraft and the target. The FGS treats the target as a mobile waypoint in a 4-D space (position in 2-dimensions, desired crossing heading and speed) and guides the aircraft on suitable trajectories towards the target. Only when the vehicle is close enough to the rendezvous point, the guidance law is complemented with an additional linear controller to manage the terminal formation keeping phase. The capabilities of the proposed rendezvous-FGS are verified in simulation on both maneuvering and non-maneuvering targets. Finally, experimental results using a multi-rotor aerial system are presented for both fixed and accelerating targets

Supervised learning of time-independent Hamiltonians for gate design

We present a general framework to tackle the problem of finding time-independent dynamics generating target unitary evolutions. We show that this problem is equivalently stated as a set of conditions over the spectrum of the time-independent gate generator, thus translating the task into an inverse eigenvalue problem. We illustrate our methodology by identifying suitable time-independent generators implementing Toffoli and Fredkin gates without the need for ancillae or effective evolutions. We show how the same conditions can be used to solve the problem numerically, via supervised learning techniques. In turn, this allows us to solve problems that are not amenable, in general, to direct analytical solution, providing at the same time a high degree of flexibility over the types of gate-design problems that can be approached. As a significant example, we find generators for the Toffoli gate using only diagonal pairwise interactions, which are easier to implement in some experimental architectures. To showcase the flexibility of the supervised learning approach, we give an example of a non-trivial four-qubit gate that is implementable using only diagonal, pairwise interactions

Development of a Hybrid Simulator for Underwater Vehicles with Manipulators

This article describes a hybrid simulation approach meant to facilitate the realization of a simulator for underwater vehicles with one or more manipulators capable of simulating the interaction of the vehicle with objects and structures of the environment. The hybrid simulation approach is first described and motivated analytically, then an analysis of simulation accuracy is proposed, where, in particular, the implications of added mass simulation are discussed. Then, a possible implementation of the proposed architecture is shown, where a robotic simulator of articulated bodies, capable of stable and accurate simulation of contact forces, although unfit to simulate any serious hydrodynamic model, is tightly interfaced with a general purpose dynamic systems simulator that is used to simulate the hydrodynamic forces, the vehicle guidance, navigation, and control system, and also a man-machine interface. Software details and the technicalities needed to interface the two simulators are also briefly presented. Finally, the results of the simulation of three operational scenarios are proposed as qualitative assessment of the simulator capabilities