Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform

In this paper, a hierarchical multi-UAV simulation platform,called XTDrone, is designed for UAV swarms, which is completely open-source 4 . There are six layers in XTDrone: communication, simulator,low-level control, high-level control, coordination, and human interac-tion layers. XTDrone has three advantages. Firstly, the simulation speedcan be adjusted to match the computer performance, based on the lock-step mode. Thus, the simulations can be conducted on a work stationor on a personal laptop, for different purposes. Secondly, a simplifiedsimulator is also developed which enables quick algorithm designing sothat the approximated behavior of UAV swarms can be observed inadvance. Thirdly, XTDrone is based on ROS, Gazebo, and PX4, andhence the codes in simulations can be easily transplanted to embeddedsystems. Note that XTDrone can support various types of multi-UAVmissions, and we provide two important demos in this paper: one is aground-station-based multi-UAV cooperative search, and the other is adistributed UAV formation flight, including consensus-based formationcontrol, task assignment, and obstacle avoidance.Comment: 12 pages, 10 figures. And for the, see https://gitee.com/robin_shaun/XTDron

Identification of Isoflavonoid Biosynthesis-Related R2R3-MYB Transcription Factors in Callerya speciosa (Champ. ex Benth.) Schot Using Transcriptome-Based Gene Coexpression Analysis

The R2R3-MYB family is one of the largest plant transcription factor (TF) families playing vital roles in defense, plant growth, and secondary metabolism biosynthesis. Although this gene family has been studied in many species, isoflavonoid biosynthesis-related R2R3-MYB TFs in Callerya speciosa (Champ. ex Benth.) Schot, a traditional Chinese medicinal herb, are poorly understood. Here, a total of 101 R2R3-MYB TFs were identified from C. speciosa transcriptome dataset. 25 clades divided into five functional groups were clustered based on the sequence similarity and phylogenetic tree. Conserved motifs and domain distribution, expression patterns, and coexpression networks were also employed to identify the potential R2R3-MYB TFs in the regulation of isoflavonoid biosynthesis. In silico evaluation showed that the deduced R2R3-CsMYB proteins contain highly conserved R2R3 repeat domain at the N-terminal region, that is the signature motif of R2R3-type MYB TFs. Eight potential TFs (CsMYB17, CsMYB36, CsMYB41, CsMYB44, CsMYB45, CsMYB46, CsMYB72, and CsMYB81) had high degrees of coexpression with four key isoflavonoid biosynthetic genes (CsIFS, CsCHS7, CsHID-1, and CsCHI3), in which CsMYB36 as a potential regulator possessed the highest degree. HPLC analysis showed that formononetin and maackiain contents were significantly increased during the development of tuberous roots, which might be controlled by both related R2R3-CsMYBs and structural genes involved in the isoflavonoid biosynthesis pathway. The transcriptome data were further validated by reverse transcription real-time PCR (RT-qPCR) analysis, and similar expression profiles between TFs and key structural genes were identified. This study was the first step toward the understanding of the R2R3-MYB TFs regulating isoflavonoid biosynthesis in C. speciosa. The results will provide information for further functional analysis and quality improvement through genetic manipulation of these potential R2R3-CsMYB genes in C. speciosa

Additional file 1 of Integrated transcriptomics and metabolomics analysis provides insights into aromatic volatiles formation in Cinnamomum cassia bark at different harvesting times

Additional file 1: Supplementary Fig. S1. Differentially accumulated volatiles (DAVs) in different harvesting times. Supplementary Fig. S2. The venn diagrams of DAVs among four comparisons. Supplementary Fig. S3. K-means clustering analysis of the DAVs. Supplementary Fig. S4. Significantly enriched KEGG pathways of DEGs