Connectivity-Preserving Swarm Teleoperation With A Tree Network

During swarm teleoperation, the human operator may threaten the distance-dependent inter-robot communications and, with them, the connectivity of the slave swarm. To prevent the harmful component of the human command from disconnecting the swarm network, this paper develops a constructive strategy to dynamically modulate the interconnections of, and the locally injected damping at, all slave robots. By Lyapunov-based set invariance analysis, the explicit law for updating that control gains has been rigorously proven to synchronize the slave swarm while preserving all interaction links in the tree network. By properly limiting the impact of the user command rather than rejecting it entirely, the proposed control law enables the human operator to guide the motion of the slave swarm to the extent to which it does not endanger the connectivity of the swarm network. Experiment results demonstrate that the proposed strategy can maintain the connectivity of the tree network during swarm teleoperation

Entropy exchange, coherent information and concurrence

For a simple model we derive analytic expressions of entropy exchange and coherent information, from which relations between them and the concurrence are drawn. We find that in the quantum evolution the entropy exchange exhibits behavior \textsl{opposite} to that of the concurrence, whereas the coherent information shows features very similar to those of the concurrence. The meaning of this result for general systems is discussed.Comment: 4 pages, 8 figures v2: version accepted for publication in Phys. Rev.

Comment on ``Geometric phase of entangled spin pairs in a magnetic field''

The degree of entanglement between two spins may change due to interaction. About this we find that a wrong result in a recent work by Ge and Wadati [Phys. Rev. A {\bf72}, 052101(2005)] which breach the basic principle.Comment: 2 pages, comment on Phys. Rev. A {\bf72}, 052101(2005), and to appear in Phys. Rev.