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We propose a novel control method to enclose a moving target in a two-dimensional setting with a team of agents forming a prescribed geometric pattern. The approach optimises a measure of the overall agent motion costs, via the minimisation of a suitably defined cost function encapsulating the pattern rotation and scaling. We propose two control laws which use global information and make the agents exponentially converge to the prescribed formation with an optimal scale that remains constant, while the team's centroid tracks the target. One control law results in a multiagent pattern that keeps a constant orientation in the workspace; for the other, the pattern rotates with constant speed. These behaviours, whose optimality and steadiness are very relevant for the task addressed, occur independently from the target's velocity. Moreover, the methodology does not require distance measurements, common coordinate references, or communications. We also present formal guarantees of collision avoidance for the proposed approach. Illustrative simulation examples are provided. [ABSTRACT FROM AUTHOR]

Summary: This article presents a novel control strategy based on predictor‐feedback delay compensation for multiagent systems to reach a prescribed target formation under unknown but bounded communication delays and switching communication topology. Both communication delays and network topology can be subjected to arbitrarily‐fast time variations. The key idea is to implement predictor‐feedback strategies using only relative measurements between agents expressed in each local agent's frame, with the aim to counteract the negative effect of time delays. Nevertheless, due to the decentralized nature of the control, the presence of time‐varying delays and switching communication topology, only partial delay compensation is possible. Despite this, we show that better performance can be achieved with our proposal with respect to nonpredictor control schemes by introducing a weighting factor for predictor‐feedback terms in the control law. Sufficient conditions based on Linear Matrix Inequalities for robust stability are also provided, which allow to easily design the controller parameters in order to maximize the speed of convergence. Finally, simulation results are provided to show the effectiveness of the proposed approach. [ABSTRACT FROM AUTHOR]

In this article, we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring every point to be constantly revisited. As a first step, our solution finds a partition of the environment where the amount of work for each robot, weighted by the importance of each point, is equal. This is achieved using a power diagram and finding an equitable partition through a provably correct distributed control law on the power weights. Compared with other existing partitioning methods, our solution considers a continuous environment formulation with non-convex obstacles. In the second step, each robot computes a graph that gathers sweep-like paths and covers its entire partition. At each planning time, the coverage error at the graph vertices is assigned as weights of the corresponding edges. Then, our solution is capable of efficiently finding the optimal open coverage path through the graph with respect to the coverage error per distance traversed. Simulation and experimental results are presented to support our proposal. [ABSTRACT FROM AUTHOR]

Summary: This paper investigates the convergence of nonholonomic multiagent coordinate‐free formation control to a prescribed target formation subject to communication delays by means of Lyapunov‐Krasovskii approach and smooth state‐feedback control laws. As a result, an iterative algorithm based on linear matrix inequalities is provided to obtain the worst‐case point‐to‐point delay under which the multiagent system is guaranteed to be stable. It is worth mentioning that: (i) the given algorithm holds for any connected communication topology and (ii) the formation control is coordinate‐free, that is, a common frame is not required to be shared between agents. The effectiveness of the given method is illustrated through simulation results. [ABSTRACT FROM AUTHOR]

Multi-robot teams composed of ground and aerial vehicles have gained attention during the last few years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper, we propose two Lloyd-based tracking strategies to allow the ground robots (agents) to follow the aerial ones (targets), keeping the connectivity between the agents. The first strategy establishes density functions on the environment so that the targets acquire more importance than other zones, while the second one iteratively modifies the virtual limits of the working area depending on the positions of the targets. We consider the connectivity maintenance due to the fact that coverage tasks tend to spread the agents as much as possible, which is addressed by restricting their motions so that they keep the links of a minimum spanning tree of the communication graph. We provide a thorough parametric study of the performance of the proposed strategies under several simulated scenarios. In addition, the methods are implemented and tested using realistic robotic simulation environments and real experiments. [ABSTRACT FROM AUTHOR]

Persistent coverage with a team of agents refers to the task of covering an area where the coverage degrades with time. This is a dynamic task as opposed to the deployment problem. A key issue here is the coverage degradation that prevents the complete coverage fulfilment and requires persistence in the action. We propose a new method for persistent coverage where the agents' actions are computed in a partially distributed manner. The contribution is a control strategy based on variable coverage action and variable coverage range of the agents. This control provides adaptive behaviour in terms of actuator power and actuator domain in order to reduce the coverage error and energy consumption. The proposal is tested in simulation, showing clear improvement in terms of efficiency, flexibility, and scalability. [ABSTRACT FROM AUTHOR]

Many applications of wheeled mobile robots demand a good solution for the autonomous mobility problem, i.e., the navigation with large displacement. A promising approach to solve this problem is the following of a visual path extracted from a visual memory. In this paper, we propose an image-based control scheme for driving wheeled mobile robots along visual paths. Our approach is based on the feedback of information given by geometric constraints: the epipolar geometry or the trifocal tensor. The proposed control law only requires one measurement easily computed from the image data through the geometric constraint. The proposed approach has two main advantages: explicit pose parameters decomposition is not required and the rotational velocity is smooth or eventually piece-wise constant avoiding discontinuities that generally appear in previous works when the target image changes. The translational velocity is adapted as demanded for the path and the resultant motion is independent of this velocity. Furthermore, our approach is valid for all cameras with approximated central projection, including conventional, catadioptric and some fisheye cameras. Simulations and real-world experiments illustrate the validity of the proposal. [ABSTRACT FROM AUTHOR]

In this paper we present a new method for hand gesture recognition based on an RGB-D sensor. The proposed approach takes advantage of depth information to cope with the most common problems of traditional video-based hand segmentation methods: cluttered backgrounds and occlusions. The algorithm also uses colour and semantic information to accurately identify any number of hands present in the image. Ten different static hand gestures are recognised, including all different combinations of spread fingers. Additionally, movements of an open hand are followed and 6 dynamic gestures are identified. The main advantage of our approach is the freedom of the user's hands to be at any position of the image without the need of wearing any specific clothing or additional devices. Besides, the whole method can be executed without any initial training or calibration. Experiments carried out with different users and in different environments prove the accuracy and robustness of the method which, additionally, can be run in real-time. [ABSTRACT FROM AUTHOR]

In this paper, we present a visual servo controller that effects optimal paths for a nonholonomic differential drive robot with field-of-view constraints imposed by the vision system. The control scheme relies on the computation of homographies between current and goal images, but unlike previous homography-based methods, it does not use the homography to compute estimates of pose parameters. Instead, the control laws are directly expressed in terms of individual entries in the homography matrix. In particular, we develop individual control laws for the three path classes that define the language of optimal paths: rotations, straight-line segments, and logarithmic spirals. These control laws, as well as the switching conditions that define how to sequence path segments, are defined in terms of the entries of homography matrices. The selection of the corresponding control law requires the homography decomposition before starting the navigation. We provide a controllability and stability analysis for our system and give experimental results. [ABSTRACT FROM AUTHOR]

In this paper we present a stereo feature-based method using SIFT (Scale-invariant feature transform) descriptors. We use automatic feature extractors, matching algorithms between images and techniques of robust estimation to produce a DTM (Digital Terrain Model) using convergent shots of a rock glacier.The geomorphologic structure observed in this study is the Veleta rock glacier (Sierra Nevada, Granada, Spain). This rock glacier is of high scientific interest because it is the southernmost active rock glacier in Europe and it has been analyzed every year since 2001. The research on the Veleta rock glacier is devoted to the study of its displacement and cartography through geodetic and photogrammetric techniques. [ABSTRACT FROM AUTHOR]

In this paper, a pan temperature control of induction hobs is described. The aim is that the user may select the cooking temperature instead of the power for the cooker. Pan temperature has to be estimated from a thermal sensor placed under the ceramic glass. Heat transmission from the induction coil to the pan and from the pan to the thermal sensor is modeled using a state-space model. As induction heating is highly dependent on thermal and magnetic pan properties, two different adaptive schemes are proposed and compared. Both guarantee a proper closed loop behavior. The contribution of this paper is related with temperature adaptive observer for different pans. The resultant system is simple, user friendly, robust, and safe, and is used for automatic cooking. [ABSTRACT FROM AUTHOR]