Traditional methodologies for precise inspection of bridges (pavement, beams, column cap, column, joints and inside box girder, etc.) with By-bridge equipment, Aerial Work Platform (AWP) or via ropes have several limits that can be overcome by using Unmanned Vehicles (UAVs). The constant development in this field allows us to go beyond the manual control use a single UAV. In context rules, research provides new inputs multilevel approach used today methods structural drones. Today, UAV-based...

This paper focuses on the trajectory tracking problem for a swarm of mobile agents. A kinematic model describing interactions and evolutions members is proposed its main properties are analyzed emphasizing that agents centroid ensured to track in finite-time given reference reach an aggregation hyper-ball moving around path. One characteristics presence interaction matrix, between coordinates, which allows define some allowing creation different forms aggregations, i.e., spheres, ellipsoids,...

In this paper, platoons of autonomous vehicles operating in urban road networks are considered. From a methodological point view, the problem interest consists formally characterizing vehicle state trajectory tubes by means routing decisions complying with traffic congestion criteria. To end, novel distributed control architecture is conceived taking advantage two methodologies: deep reinforcement learning and model predictive control. On one hand, obtained using algorithm that exploits...

This paper proposes a decentralised controller for swarm of agents that generates hypotrochoidal and epitrochoidal curves in 3D space. The dynamics the is modelled as double integrator where control input, i.e. acceleration profile, contains two terms account interactions between position velocity, respectively. term related to interaction velocities weighted by skew-symmetric matrix responsible coupling displacements. Such defines an axis rotation centred on centroid swarm, around which...

The present paper faces the Simultaneous Localization And Mapping (SLAM) problem for a mobile robot in an unknown indoor environment. A set of segments is used to model surrounding environment and segments' starting ending points are as SLAM landmarks. segment based mapping algorithm proposed along with Extended Kalman filter driven by measurements taken ultrasonic sensors located on robot. has been tested both simulated real experiments yielding encouraging estimation results.

This paper deals with the problem of estimating hard iron bias affecting measurements provided by a triaxial magnetometer. The estimation is carried out using from magnetometer and gyroscope mounted on same inertial measurement unit. described solutions ensure finite-time performance robustness against noise. effectiveness proposed proved experimental tests real sensors.

In this paper, a model for multi-agent swarm evolving in d-dimensional space is proposed. The consists of balance among attraction to given goal and attraction/repulsion agents. One the main characteristics presence an interaction matrix on agents' coordinates, defining some properties formation. paper focuses analysis new highlighting steady-state behaviour both terms static rotating configuration around goal. Numerical simulations are provided support obtained results.

This paper proposes a continuous-time model for aggregating team of agents in k-dimensional space and establishing reference tracking. Since the is kinematic nature, each agent considered as an ideal point communicating without delay with other components team. The proposed ensures that centroid path converges finite-time to imposed trajectory while aggregate hyper-ball moving around path. dimension modulated by varying one free parameters model. fact guarantees swarm can reduce or enlarge...

In this paper we focus on the target capturing problem for a swarm of agents modelled as double integrators in any finite space dimension. Each agent knows relative position and has only an estimation its velocity acceleration. Given that errors are bounded by some known values, it is possible to design control law ensures enter user-defined ellipsoidal ring around moving target. Agents know other members whose distance smaller than common detection radius. Finally, case no uncertainty about...

In this note, the reference tracking problem for teams of unmanned vehicles subject to formation constraints is solved via a model predictive control (MPC) algorithm built up in distributed fashion. By exploiting properties deriving from novel kinematic description swarm agents, receding horizon (RHC) approach properly adapted deal with and constraints. particular, neighbor interactions are translated into convex conditions, thanks an in-depth analysis geometric arising combined use...

In this article, a kinematic continuous time swarm model is considered by extending the results in paper "A class of attractions/repulsion functions for stable aggregations" (as shown <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">International Journal Control</i> , vol. 77, pages 1567–1579). The extension regards more general attraction/repulsion that can be used to explain formation rotational patterns agents. main characteristic...

This work describes a methodology to generate trajectories for swarm of agents, modeled as single integrators, achieving target capturing/enclosing and containment. The discussed method proposes robust solution that relaxes the strong assumptions about exact knowledge information. In particular, each agent requires rough estimation reference, with <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</i> known bounded error both on...

We consider a simplified version of the Taylor model, typically used in collective dynamics continuous exchange opinions, to describe properties swarm formation presence external sources influence or prejudices affecting number agents network. Such are responsible for breakdown consensus equilibrium and directly certain other individuals network, which we denote as quasi-stubborn agents. These participate with individuals, but able indirectly opinions entire system. In particular, show that...

In this work the Simultaneous Localization And Mapping (SLAM) problem for a mobile robot placed in an unknown indoor environment is faced. The modeled as set of polynomials used SLAM landmarks. A polynomial based mapping algorithm proposed and along with Extended Kalman filter to yield solution problem. updates position orientation estimation using sparse measurements taken from on board ultrasonic sensors. has been evaluated both numerical experimental tests obtaining very good results.

In this work we compare the performance of two algorithms, respectively based on Extended Kalman Filter and Unscented Filter, for mobile robot localization environment reconstruction problem. The proposed algorithms do not require any assumption working space: they are driven only by measurements taken using ultrasonic sensors located onboard robot. We also devise a switching activation policy, which allows energy saving still achieving accurate tracking reliable mapping workspace. results...

In this paper, a distributed receding horizon control scheme is developed for teams of autonomous agents customized as swarms within platoon configurations. Coordination and collision avoidance specs multi-agent systems prescribe the use high memory requirements local computations exploitation growing number sensors involved increase. order to mitigate such drawback, two key ingredients are exploited: 1) swarm formation modelling that allows consider in some sense several acting singleton;...

In this letter a kinematic model is proposed to explain the formation of vortices in swarm agents. The main characteristic introduction two coordinates coupling matrices weighting both attractive term given target reference trajectory and interaction among These matrices, on which stability properties depend, allow obtain rotational behaviour agents around target. Each agent may exchange information with all other its neighbourhood. This neighbourhood considered be circle certain radius that...

In this paper the problem of estimating relative orientation and position between a camera an object is investigated. It assumed that both are provided with Inertial Measurement Unit (IMU) capable measuring their attitude respect to gravity earth magnetic vectors. Furthermore, contain feature n points, which known in coordinate frame. An algorithm proposed, uses image by information IMUs, solve PnP problem, i.e., estimate pose reference Two special cases will be studied. The first case where...

In this paper the problem of estimating relative orientation and position between a camera an object is considered. It assumed that both are provided with IMU capable to give their inclinations respect gravity vector. moreover contains feature 3 points whose in coordinate frame known. Using image by information on vector IMUs we propose algorithm pose reference solving modified P2P or P3P problem. will be shown always gives 2 solutions, except few singular configurations, while usually...

In this letter a discrete-time kinematic model for swarm of agents moving in multi-dimensional space is proposed. The contains two terms accounting the attraction to common goal position and interactions among agents. latter can be tuned by using coordinates coupling matrix that weighs inter-agents displacements permits define region attraction. main properties are studied proving aggregate finite-time some regions, ensuring centroid convergence target position. analysis performed assuming...