Simultaneous deployment and tracking multi-robot strategies with connectivity maintenance

Multi-robot teams composed of ground and aerial vehicles have gained attention during the last few years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper, we propose two Lloyd-based tracking strategies to allow the ground robots (agents) to follow the aerial ones (targets), keeping the connectivity between the agents. The first strategy establishes density functions on the environment so that the targets acquire more importance than other zones, while the second one iteratively modifies the virtual limits of the working area depending on the positions of the targets. We consider the connectivity maintenance due to the fact that coverage tasks tend to spread the agents as much as possible, which is addressed by restricting their motions so that they keep the links of a minimum spanning tree of the communication graph. We provide a thorough parametric study of the performance of the proposed strategies under several simulated scenarios. In addition, the methods are implemented and tested using realistic robotic simulation environments and real experiments

Coverage of deformable contour shapes with minimal multi-camera system

Perception over time is a critical problem in those cases where deformable objects are manipulated. The goal of this study is to cover the contour of an object along a deformation process and according to a prescribed coverage objective, in terms of visibility and resolution. This task is carried out by a set of limited field-of-view cameras. We propose novel methods for guaranteeing feasibility of the coverage objectives, which include the computation of the maximum visibility and resolution of the contour. Then, we introduce the coverage objectives in an offline constrained optimization problem to compute a priori the minimum number of cameras that achieve the coverage requirements. Finally, we propose an online technique that provides optimized configurations faster than the offline one, even when the object’s reference deformation is unknown. We report experimental results in which our method achieves 100% of the coverage in simulation and in a real task

Robust stability analysis of formation control in local frames under time-varying delays and actuator faults

This paper investigates the robust stability of a multiagent system moving to a desired rigid formation in presence of unknown time-varying communication delays and actuator faults. Each agent uses relative position measurements to implement the proposed control method, which does not require common coordinate references. However, the presence of time delays in the measurements, which is inherent to the communication links between agents, has a negative impact in the control system performance leading, in some cases, to instability. Furthermore, the robust stability analysis becomes more complex if failures on actuators are taken into account. In addition, delays may be subject to time variations, depending on network load, availability of communication resources, dynamic routing protocols, or other environmental conditions. To cope with these problems, a sufficient condition based on Linear Matrix Inequalities (LMI) is provided to ensure the robust asymptotic convergence of the agents to the desired formation. This condition is valid for any arbitrarily fast time-varying delays and actuator faults, given a worst-case point-to-point delay. Finally, simulation results show the performance of the proposed approach

Equitable persistent coverage of non-convex environments with graph-based planning

In this article, we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring every point to be constantly revisited. As a first step, our solution finds a partition of the environment where the amount of work for each robot, weighted by the importance of each point, is equal. This is achieved using a power diagram and finding an equitable partition through a provably correct distributed control law on the power weights. Compared with other existing partitioning methods, our solution considers a continuous environment formulation with non-convex obstacles. In the second step, each robot computes a graph that gathers sweep-like paths and covers its entire partition. At each planning time, the coverage error at the graph vertices is assigned as weights of the corresponding edges. Then, our solution is capable of efficiently finding the optimal open coverage path through the graph with respect to the coverage error per distance traversed. Simulation and experimental results are presented to support our proposal

Enclosing a moving target with an optimally rotated and scaled multiagent pattern

We propose a novel control method to enclose a moving target in a two-dimensional setting with a team of agents forming a prescribed geometric pattern. The approach optimises a measure of the overall agent motion costs, via the minimisation of a suitably defined cost function encapsulating the pattern rotation and scaling. We propose two control laws which use global information and make the agents exponentially converge to the prescribed formation with an optimal scale that remains constant, while the team's centroid tracks the target. One control law results in a multiagent pattern that keeps a constant orientation in the workspace; for the other, the pattern rotates with constant speed. These behaviours, whose optimality and steadiness are very relevant for the task addressed, occur independently from the target's velocity. Moreover, the methodology does not require distance measurements, common coordinate references, or communications. We also present formal guarantees of collision avoidance for the proposed approach. Illustrative simulation examples are provided

The steel–concrete interface

Although the steel–concrete interface (SCI) is widely recognized to influence the durability of reinforced concrete, a systematic overview and detailed documentation of the various aspects of the SCI are lacking. In this paper, we compiled a comprehensive list of possible local characteristics at the SCI and reviewed available information regarding their properties as well as their occurrence in engineering structures and in the laboratory. Given the complexity of the SCI, we suggested a systematic approach to describe it in terms of local characteristics and their physical and chemical properties. It was found that the SCI exhibits significant spatial inhomogeneity along and around as well as perpendicular to the reinforcing steel. The SCI can differ strongly between different engineering structures and also between different members within a structure; particular differences are expected between structures built before and after the 1970/1980s. A single SCI representing all on-site conditions does not exist. Additionally, SCIs in common laboratory-made specimens exhibit significant differences compared to engineering structures. Thus, results from laboratory studies and from practical experience should be applied to engineering structures with caution. Finally, recommendations for further research are made

VIII Encuentro de Docentes e Investigadores en Historia del Diseño, la Arquitectura y la Ciudad

Acta de congresoLa conmemoración de los cien años de la Reforma Universitaria de 1918 se presentó como una ocasión propicia para debatir el rol de la historia, la teoría y la crítica en la formación y en la práctica profesional de diseñadores, arquitectos y urbanistas. En ese marco el VIII Encuentro de Docentes e Investigadores en Historia del Diseño, la Arquitectura y la Ciudad constituyó un espacio de intercambio y reflexión cuya realización ha sido posible gracias a la colaboración entre Facultades de Arquitectura, Urbanismo y Diseño de la Universidad Nacional y la Facultad de Arquitectura de la Universidad Católica de Córdoba, contando además con la activa participación de mayoría de las Facultades, Centros e Institutos de Historia de la Arquitectura del país y la región. Orientado en su convocatoria tanto a docentes como a estudiantes de Arquitectura y Diseño Industrial de todos los niveles de la FAUD-UNC promovió el debate de ideas a partir de experiencias concretas en instancias tales como mesas temáticas de carácter interdisciplinario, que adoptaron la modalidad de presentación de ponencias, entre otras actividades. En el ámbito de VIII Encuentro, desarrollado en la sede Ciudad Universitaria de Córdoba, se desplegaron numerosas posiciones sobre la enseñanza, la investigación y la formación en historia, teoría y crítica del diseño, la arquitectura y la ciudad; sumándose el aporte realizado a través de sus respectivas conferencias de Ana Clarisa Agüero, Bibiana Cicutti, Fernando Aliata y Alberto Petrina. El conjunto de ponencias que se publican en este Repositorio de la UNC son el resultado de dos intensas jornadas de exposiciones, cuyos contenidos han posibilitado actualizar viejos dilemas y promover nuevos debates. El evento recibió el apoyo de las autoridades de la FAUD-UNC, en especial de la Secretaría de Investigación y de la Biblioteca de nuestra casa, como así también de la Facultad de Arquitectura de la UCC; va para todos ellos un especial agradecimiento