Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the agents' poses and also in the distributed control laws, making the proposed technique easily applicable to time-varying formation control of general robotic systems. The proposed pose consensus protocol has guaranteed convergence when the interaction among the agents is represented by directed graphs with directed spanning trees, which is a more general result when compared to the literature on formation control. In order to illustrate the proposed pose consensus protocol and its extension to the problem of formation control, we present a numerical simulation with a large number of free-flying agents and also an application of cooperative manipulation by using real mobile manipulators

Autonomous Navigation System for a Delivery Drone

The use of delivery services is an increasing trend worldwide, further enhanced by the COVID pandemic. In this context, drone delivery systems are of great interest as they may allow for faster and cheaper deliveries. This paper presents a navigation system that makes feasible the delivery of parcels with autonomous drones. The system generates a path between a start and a final point and controls the drone to follow this path based on its localization obtained through GPS, 9DoF IMU, and barometer. In the landing phase, information of poses estimated by a marker (ArUco) detection technique using a camera, ultra-wideband (UWB) devices, and the drone's software estimation are merged by utilizing an Extended Kalman Filter algorithm to improve the landing precision. A vector field-based method controls the drone to follow the desired path smoothly, reducing vibrations or harsh movements that could harm the transported parcel. Real experiments validate the delivery strategy and allow to evaluate the performance of the adopted techniques. Preliminary results state the viability of our proposal for autonomous drone delivery.Comment: 12 pages, 15 figures, extended version of an paper published at the XXIII Brazilian Congress of Automatica, entitled "Desenvolvimento de um drone aut\^onomo para tarefas de entrega de carga

Multiple Scenario Generation of Subsurface Models:Consistent Integration of Information from Geophysical and Geological Data throuh Combination of Probabilistic Inverse Problem Theory and Geostatistics

Neutrinos with energies above 1017 eV are detectable with the Surface Detector Array of the Pierre Auger Observatory. The identification is efficiently performed for neutrinos of all flavors interacting in the atmosphere at large zenith angles, as well as for Earth-skimming \u3c4 neutrinos with nearly tangential trajectories relative to the Earth. No neutrino candidates were found in 3c 14.7 years of data taken up to 31 August 2018. This leads to restrictive upper bounds on their flux. The 90% C.L. single-flavor limit to the diffuse flux of ultra-high-energy neutrinos with an E\u3bd-2 spectrum in the energy range 1.0 7 1017 eV -2.5 7 1019 eV is E2 dN\u3bd/dE\u3bd < 4.4 7 10-9 GeV cm-2 s-1 sr-1, placing strong constraints on several models of neutrino production at EeV energies and on the properties of the sources of ultra-high-energy cosmic rays

Matheuristics for Multi-UAV Routing and Recharge Station Location for Complete Area Coverage

This paper presents matheuristics for routing a heterogeneous group of capacitated unmanned air vehicles (UAVs) for complete coverage of ground areas, considering simultaneous minimization of the coverage time and locating the minimal number of refueling stations. Whereas coverage path planning (CPP) is widely studied in the literature, previous works did not combine heterogeneous vehicle performance and complete area coverage constraints to optimize UAV tours by considering both objectives. As this problem cannot be easily solved, we designed high-level path planning that combines the multiobjective variable neighborhood search (MOVNS) metaheuristic and the exact mathematical formulation to explore the set of nondominated solutions. Since the exact method can interact in different ways with MOVNS, we evaluated four different strategies using four metrics: execution time, coverage, cardinality, and hypervolume. The experimental results show that applying the exact method as an intraroute operator into the variable neighborhood descent (VND) can return solutions as good as those obtained by the closest to optimal strategy but with higher efficiency

Multi-UAV Routing for Area Coverage and Remote Sensing with Minimum Time

This paper presents a solution for the problem of minimum time coverage of ground areas using a group of unmanned air vehicles (UAVs) equipped with image sensors. The solution is divided into two parts: (i) the task modeling as a graph whose vertices are geographic coordinates determined in such a way that a single UAV would cover the area in minimum time; and (ii) the solution of a mixed integer linear programming problem, formulated according to the graph variables defined in the first part, to route the team of UAVs over the area. The main contribution of the proposed methodology, when compared with the traditional vehicle routing problem’s (VRP) solutions, is the fact that our method solves some practical problems only encountered during the execution of the task with actual UAVs. In this line, one of the main contributions of the paper is that the number of UAVs used to cover the area is automatically selected by solving the optimization problem. The number of UAVs is influenced by the vehicles’ maximum flight time and by the setup time, which is the time needed to prepare and launch a UAV. To illustrate the methodology, the paper presents experimental results obtained with two hand-launched, fixed-wing UAVs

Control of swarms based on Hydrodynamic models

Abstract — We address the problem of pattern generation in obstacle-filled environments by a swarm of mobile robots. Decentralized controllers are devised by using the Smoothed Particle Hydrodynamics (SPH) method. The swarm is modelled as an incompressible fluid subjected to external forces. Actual robot issues such as finite size and nonholonomic constraints are also addressed. Collision avoidance guarantees are discussed. Finally, in the absence of obstacles, we prove for the first time stability and convergence of controllers based on the SPH. I

Path planning for mobile robots operating in outdoor environments using map overlay and triangular decomposition

Abstract. This paper addresses the mobile robot motion planning problem in outdoor environments, which are large, sparsely occupied workspaces with uneven terrains. We present results in path planning using an efficient discretization method based on Constrained Delaunay Triangulation (CDT) and classical graph searching algorithms. CDT has been proven to be a good method for representing complex shaped objects and regions, very common in outdoor environments. In order to combine several constraints associated with different forms of interaction between robot and workspace, map overlay techniques are used