Distributed Coverage Hole Prevention for Visual Environmental Monitoring with Quadcopters via Nonsmooth Control Barrier Functions

This paper proposes a distributed coverage control strategy for quadcopters equipped with downward-facing cameras that prevents the appearance of unmonitored areas in between the quadcopters' fields of view (FOVs). We derive a necessary and sufficient condition for eliminating any unsurveilled area that may arise in between the FOVs among a trio of quadcopters by utilizing a power diagram, i.e. a weighted Voronoi diagram defined by radii of FOVs. Because this condition can be described as logically combined constraints, we leverage nonsmooth control barrier functions (NCBFs) to prevent the appearance of unmonitored areas among a team's FOV. We then investigate the symmetric properties of the proposed NCBFs to develop a distributed algorithm. The proposed algorithm can support the switching of the NCBFs caused by changes of the quadcopters composing trios. The existence of the control input satisfying NCBF conditions is analyzed by employing the characteristics of the power diagram. The proposed framework is synthesized with a coverage control law that maximizes the monitoring quality while reducing overlaps of FOVs. The proposed method is demonstrated in simulation and experiment.Comment: 17 pages, 18 figures, submitted to the IEEE Transactions on Robotic

Non-equilibrium Fluctuation Relations in a Quantum Coherent Conductor

We experimentally demonstrate the validity of non-equilibrium fluctuation relations by using a quantum coherent conductor. In equilibrium the fluctuation-dissipation relation leads to the correlation between current and current noise at the conductor, namely, Johnson-Nyqusit relation. When the conductor is voltage-biased so that the non-linear regime is entered, the fluctuation theorem has predicted similar non-equilibrium fluctuation relations, which hold true even when the Onsager-Casmir relations are broken in magnetic fields. Our experiments qualitatively validate the predictions as the first evidence of this theorem in the non-equilibrium quantum regime. In the appendix, we give simple deduction of the higher order correlations between the current and the current noise based on the fluctuation theorem.Comment: 4 pages, 4 figures with 1-page appendix