Nonlinear Model Predictive Control for Multi-Micro Aerial Vehicle Robust Collision Avoidance

Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is employed to achieve simultaneously reference trajectory tracking and collision avoidance. Moreover, we also account for the uncertainty of the state estimator and the other agents position and velocity uncertainties to achieve a higher degree of robustness. The proposed approach is decentralized, does not require collision-free reference trajectory and accounts for the full MAV dynamics. We validated our approach in simulation and experimentally.Comment: Video available on: https://www.youtube.com/watch?v=Ot76i9p2ZZo&t=40

LABY : un support d'aide à l'évaluation de choix de conception d'IHM pour le contrôle aérien

International audienceThe iterative approach in the development of Human Machine Interfaces involves the validation of design choices on both aspects of design and means of interaction. In the case of complex interfaces, conduct evaluations of such choices can be very difficult and expensive. In the field of air traffic control, especially for the design of the controllers' radar display, a simulation tool for high-fidelity usage scenarios LABY has been developed to enable ergonomists and engineers to evaluate HMI solutions in a simplified and controllable environment. In this paper we present the use of LABY in three experiments realized in order to design an innovative interface for air traffic controllers

An automatic generation of metro-like maps to display flight routes for air traffic controllers: structure and color optimization

International audienceAircraft must follow strict Air Traffic Control (ATC) rules. One of these rules is that aircraft have to fly over pre-defined Flight Routes (FR). Current ATC visualizations do not display FRs because they are numerous and run into each other, and thus spoil the visualization. The schematic views for metro maps are used to maximize the transmission of relevant information (lines, metro stops) of network visualization. In this paper, we will focus on two different issues. First, we show how we transposed mathematical constraints used to produce metro maps into the specific field of ATC. The view produced is a context compatible, 2D picture of a schematic maps view for Air Traffic Control. Second, we propose to investigate the generation and placement of colors to be assigned to lines of the network. The first step is to find as many colors as lines of the network. These colors must be perceptually as distinct as possible, and available in the vocabulary of colors. The second step is to solve the NP-complete problem of the optimal assignment of these colors so that close lines have the most perceptively distant color. Finally, we assess the map produced through experimentation to validate its quality

Evaluation of head-free eye tracking as an input device for air traffic control

International audienceThe purpose of this study was to investigate the possibility to integrate a free head motion eye-tracking system as input device in air traffic control (ATC) activity. Sixteen participants used an eye tracker to select targets displayed on a screen as quickly and accurately as possible. We assessed the impact of the presence of visual feedback about gaze position and the method of target selection on selection performance under different difficulty levels induced by variations in target size and target-to-target separation. We tend to consider that the combined use of gaze dwell-time selection and continuous eye-gaze feedback was the best condition as it suits naturally with gaze displacement over the ATC display and free the hands of the controller, despite a small cost in terms of selection speed. In addition, target size had a greater impact on accuracy and selection time than target distance. These findings provide guidelines on possible further implementation of eye tracking in ATC everyday activity

Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals

Autonomous vehicles that operate in urban environments shall comply with existing rules and reason about the interactions with other decision-making agents. In this paper, we introduce a decentralized and communication-free interaction-aware motion planner and apply it to Autonomous Surface Vessels (ASVs) in urban canals. We build upon a sampling-based method, namely Model Predictive Path Integral control (MPPI), and employ it to, in each time instance, compute both a collision-free trajectory for the vehicle and a prediction of other agents' trajectories, thus modeling interactions. To improve the method's efficiency in multi-agent scenarios, we introduce a two-stage sample evaluation strategy and define an appropriate cost function to achieve rule compliance. We evaluate this decentralized approach in simulations with multiple vessels in real scenarios extracted from Amsterdam's canals, showing superior performance than a state-of-the-art trajectory optimization framework and robustness when encountering different types of agents.Comment: Accepted for presentation at the 2023 IEEE International Conference on Robotics and Automation (ICRA

Online Informative Path Planning for Active Information Gathering of a 3D Surface

This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide full coverage of the surface, which inherently assumes the surface information is uniformly distributed hence ignoring potential spatial correlations of the information field. In this paper, we utilize manifold Gaussian processes (mGPs) with geodesic kernel functions for mapping surface information fields and plan informative paths online in a receding horizon manner. Our approach actively plans information-gathering paths based on recent observations that respect dynamic constraints of the vehicle and a total flight time budget. We provide planning results for simulated temperature modeling for simple and complex 3D surface geometries (a cylinder and an aircraft model). We demonstrate that our informative planning method outperforms traditional approaches such as 3D coverage planning and random exploration, both in reconstruction error and information-theoretic metrics. We also show that by taking spatial correlations of the information field into planning using mGPs, the information gathering efficiency is significantly improved.Comment: 7 pages, 7 figures, to be published in 2021 IEEE International Conference on Robotics and Automation (ICRA

The CH-3Σ+ anion: inelastic rate coefficients from collisions with he at interstellar conditions

We present accurate ab initio calculations on several properties of a gas-phase system of interest in the interstellar medium (ISM), where the title molecular anion has been often surmised but not yet confirmed by observations. The CH-3Σ+ constitutes the smallest term in the series of longer anionic polyynes which have been observed in the ISM (e.g., C4H- and several others). Hence, its dynamical behavior in collision with He atoms, one of the most abundant atoms in that environment, can provide quantitative indicators on the changes which can occur in the rotational state population of the title anion when driven by this collision dynamics. We therefore report an accurate evaluation of the full potential energy surface (PES) which acts between the molecular anion in its ground vibrational state and the He atom. The relevant inelastic scattering cross sections and the corresponding inelastic rate coefficients are then computed within a quantum treatment of the collisions. We find that the fairly small values of the final inelastic rate coefficients indicate state-changing processes by collisions to be inefficient paths for modifying the rotational state populations of this anion and therefore to aid its possible observation from direct radiative emission in the microwave regio

Collision-induced state-changing rate coefficients for cyanogen backbones NCN 3Σ− and CNN 3Σ− in astrophysical environments

We report quantum calculations involving the dynamics of rotational energy-transfer processes, by collision with He atoms in interstellar environments, of the title molecular species which share the presence of the CN backbone and are considered of importance in those environments. The latter structural feature is taken to be especially relevant for prebiotic chemistry and for its possible role in the processing of the heterocyclic rings of RNA and DNA nucleobases in the interstellar space. We carry out ab initio calculations of their interaction potentials with He atoms and further obtain the state-to-state rotationally inelastic cross sections and rate coefficients over the relevant range of temperatures. The similarities and differences between such species and other similar partners which have been already detected are analyzed and discussed for their significance on internal state populations in interstellar space for the two title molecular radicalsFAG acknowledges the support of the Computing Center of Innsbruck University where part of the present calculations were carried out. L. G.-S. acknowledges the financial support by Ministerio de Ciencia e Innovacio´n (Spain) MCIN/AEI/10.13039/ 501100011033 (Ref. PID2020-113147GA-I00 and PID2021- 122839NB-I00) and C.S-S. further acknowledges the financial support by Ministerio de Ciencia e Innovacio´n (Spain) Ref. PID2021-122549NB-C2

Novel windows for “solar commodities”: a device for CO2 reduction using plasmonic catalyst activation

Producción CientíficaA novel plasmonic reactor concept is proposed and tested to work as a visible energy harvesting device while allowing reactions to transform CO2 to be carried out. Particularly the reverse water gas shift (RWGS) reaction has been tested as a means to introduce renewable energy into the economy. The development of the new reactor concept involved the synthesis of a new composite capable of plasmonic activation with light, the development of an impregnation method to create a single catalyst reactor entity, and finally the assembly of a reaction system to test the reaction. The composite developed was based on a Cu/ZnO catalyst dispersed into transparent aerogels. This allows efficient light transmission and a high surface area for the catalyst. An effective yet simple impregnation method was developed that allowed introduction of the composites into glass microchannels. The activation of the reaction was made using LEDs that covered all the sides of the reactor allowing a high power delivery. The results of the reaction show a stable process capable of low temperature transformations

Median Surface Brightness Profiles of Lyman-α\alpha Haloes in the MUSE Extremely Deep Field

We present the median surface brightness profiles of diffuse Ly$\alpha$ haloes (LAHs) around star-forming galaxies by stacking 155 spectroscopically confirmed Ly$\alpha$ emitters (LAEs) at 3<z<4 in the MUSE Extremely Deep Field (MXDF), with median Ly$\alpha$ luminosity $\mathrm{L_{Ly\alpha} \approx 10^{41.1} erg\,s^{-1}}$. After correcting for a systematic surface brightness offset we identified in the datacube, we detect extended Ly$\alpha$ emission out to a distance of 270 kpc. The median Ly$\alpha$ surface brightness profile shows a power-law decrease in the inner 20 kpc, and a possible flattening trend at larger distance. This shape is similar for LAEs with different Ly$\alpha$ luminosities, but the normalisation of the surface brightness profile increases with luminosity. At distances larger than 50 kpc, we observe strong overlap of adjacent LAHs, and the Ly$\alpha$ surface brightness is dominated by the LAHs of nearby LAEs. We find no clear evidence of redshift evolution of the observed Ly$\alpha$ profiles when comparing with samples at 4<z<5 and 5<z<6. Our results are consistent with a scenario in which the inner 20 kpc of the LAH is powered by star formation in the central galaxy, while the LAH beyond a radius of 50 kpc is dominated by photons from surrounding galaxies.Comment: Submitted to A&