Reactive explorers to unravel network topology

A procedure is developed and tested to recover the distribution of connectivity of an a priori unknown network, by sampling the dynamics of an ensemble made of reactive walkers. The relative weight between reaction and relocation is gauged by a scalar control parameter, which can be adjusted at will. Different equilibria are attained by the system, following the externally imposed modulation, and reflecting the interplay between reaction and diffusion terms. The information gathered on the observation node is used to predict the stationary density as displayed by the system, via a direct implementation of the celebrated Heterogeneous Mean Field (HMF) approximation. This knowledge translates into a linear problem which can be solved to return the entries of the sought distribution. A variant of the model is then considered which consists in assuming a localized source where the reactive constituents are injected, at a rate that can be adjusted as a stepwise function of time. The linear problem obtained when operating in this setting allows one to recover a fair estimate of the underlying system size. Numerical experiments are carried so as to challenge the predictive ability of the theory

A Novel Dissipativity-Based Control for Inexact Nonlinearity Cancellation Problems

When dealing with linear systems feedback interconnected with memoryless nonlinearities, a natural control strategy is making the overall dynamics linear at first and then designing a linear controller for the remaining linear dynamics. By canceling the original nonlinearity via a first feedback loop, global linearization can be achieved. However, when the controller is not capable of exactly canceling the nonlinearity, such control strategy may provide unsatisfactory performance or even induce instability. Here, the interplay between accuracy of nonlinearity approximation, quality of state estimation, and robustness of linear controller is investigated and explicit conditions for stability are derived. An alternative controller design based on such conditions is proposed and its effectiveness is compared with standard methods on a benchmark system

Development of Non Expensive Technologies for Precise Maneuvering of Completely Autonomous Unmanned Aerial Vehicles

In this paper, solutions for precise maneuvering of an autonomous small (e.g., 350-class) Unmanned Aerial Vehicles (UAVs) are designed and implemented from smart modifications of non expensive mass market technologies. The considered class of vehicles suffers from light load, and, therefore, only a limited amount of sensors and computing devices can be installed on-board. Then, to make the prototype capable of moving autonomously along a fixed trajectory, a “cyber-pilot”, able on demand to replace the human operator, has been implemented on an embedded control board. This cyber-pilot overrides the commands thanks to a custom hardware signal mixer. The drone is able to localize itself in the environment without ground assistance by using a camera possibly mounted on a 3 Degrees Of Freedom (DOF) gimbal suspension. A computer vision system elaborates the video stream pointing out land markers with known absolute position and orientation. This information is fused with accelerations from a 6-DOF Inertial Measurement Unit (IMU) to generate a “virtual sensor” which provides refined estimates of the pose, the absolute position, the speed and the angular velocities of the drone. Due to the importance of this sensor, several fusion strategies have been investigated. The resulting data are, finally, fed to a control algorithm featuring a number of uncoupled digital PID controllers which work to bring to zero the displacement from the desired trajectory