Navigation, localization and stabilization of formations of unmanned aerial and ground vehicles

A leader-follower formation driving algorithm developed for control of heterogeneous groups of unmanned micro aerial and ground vehicles stabilized under a top-view relative localization is presented in this paper. The core of the proposed method lies in a novel avoidance function, in which the entire 3D formation is represented by a convex hull projected along a desired path to be followed by the group. Such a representation of the formation provides non-collision trajectories of the robots and respects requirements of the direct visibility between the team members in environment with static as well as dynamic obstacles, which is crucial for the top-view localization. The algorithm is suited for utilization of a simple yet stable visual based navigation of the group (referred to as GeNav), which together with the on-board relative localization enables deployment of large teams of micro-scale robots in environments without any available global localization system. We formulate a novel Model Predictive Control (MPC) based concept that enables to respond to the changing environment and that provides a robust solution with team members' failure tolerance included. The performance of the proposed method is verified by numerical and hardware experiments inspired by reconnaissance and surveillance missions

Deployment of PON in Europe and Deep Data Analysis of GPON

This chapter discusses the extensibility of fiber to the x (FTTx) households, specifically in the territory of the European Union. The Czech Republic has made a commitment to other member states to provide connectivity of at least 100 Mbit/s for half of the households by 2020. Although Internet access in the Czech Republic is mostly dominated by wireless fidelity (WiFi), this technology is not capable of meeting the demanding current demands at a reasonable price. As a result, passive optical networks are on the rise in access networks and in mobile cell networks by fiber to the antenna (FTTA). Passive optical networks use much more complex networks. In cooperation with Orange Slovakia, the analysis of the transmitted data was conducted. The optical network unit management and control interface (OMCI) channel data, as well as the activation data associated with specific end units, were analyzed. We propose a complete analysis of the end-unit-related activation process, download, and initialization of the data image for setting the end units and voice over Internet protocol (VoIP) parameters. Finally, we performed an analysis of the transmission of dying gasp messages

High Speed (100G) Access Networks

Passive optical networks are currently the most promising solution for access networks. Increasing bandwidth requirements and big data applications need to a huge bandwidth. Nowadays, gigabit passive optical networks do not seem to be suitable for these purposes. This paper is focused ondescribing the development, parameters, and needs for HighSpeed Access Networks (such as 100G EPON). The simulationswith current wavelengths plans are presented. For simulations,we used VPITransmissionMakerTM 9.7. Our goal was to createa rudimentary bidirectional PON system with one ONU anddo several simulation scenarios by artificially increasing loss ina splitter for simulating more ONUs. Our following results consist of BER values and eye diagrams for each simulation scenario and proof that 100G EPON networks are most promising networks for the future