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The paper addresses observability issues related to the general problem of single and multiple Autonomous Underwater Vehicle (AUV) localization using only range measurements. While an AUV is submerged, localization devices, such as Global Navigation Satellite Systems, are ineffective, due to the attenuation of electromagnetic waves. AUV localization based on dead reckoning techniques and the use of affordable motion sensor units is also not practical, due to divergence caused by sensor bias and drift. For these reasons, localization systems often build on trilateration algorithms that rely on the measurements of the ranges between an AUV and a set of fixed transponders using acoustic devices. Still, such solutions are often expensive, require cumbersome calibration procedures and only allow for AUV localization in an area that is defined by the geometrical arrangement of the transponders. A viable alternative for AUV localization that has recently come to the fore exploits the use of complementary information on the distance from the AUV to a single transponder, together with information provided by on-board resident motion sensors, such as, for example, depth, velocity and acceleration measurements. This concept can be extended to address the problem of relative localization between two AUVs equipped with acoustic sensors for inter-vehicle range measurements. Motivated by these developments, in this paper, we show that both the problems of absolute localization of a single vehicle and the relative localization of multiple vehicles can be treated using the same mathematical framework, and tailoring concepts of observability derived for nonlinear systems, we analyze how the performance in localization depends on the types of motion imparted to the AUVs. For this effect, we propose a well-defined observability metric and validate its usefulness, both in simulation and by carrying out experimental tests with a real marine vehicle during which the performance of an Extended Kalman Filter state observer is shown to depend on the types of motion imparted to the vehicle.

This study examines the scientific production focused on the Maximum Principle between 1962 and 2021. Results indicate a consistent increase in the absolute number of publications over time. In relative terms, there is a resurgence of interest in this research field after the period between 2004 and 2009. Overall, these findings support the idea of strategic complementarity between the Maximum Principle and optimal control. However, there is a notable exception during the period 2010–2015, characterised by a decline in scientific production focused on the Maximum Principle and a simultaneous increase in focus on optimal control. Academic journals that play a role in promoting this research field tend to have high impact factors and interesting cite scores. Using a modified Boston Consulting Group matrix, the results reveal the persistence of two researchers labelled as stars and three as cash cows. A multiple linear regression analysis confirms that reputation significantly influences the clustering trends. A critical discussion is provided to highlight the dichotomy between popularity and effective contributions in this research field.

Indoor agriculture is emerging as a promising approach for increasing the efficiency and sustainability of agri-food production processes. It is currently evolving from a small-scale horticultural practice to a large-scale industry as a response to the increasing demand. This led to the appearance of plant factories where agri-food production is automated and continuous and the plant environment is fully controlled. While plant factories improve the productivity and sustainability of the process, they suffer from high energy consumption and the difficulty of providing the ideal environment for plants. As a small step to address these limitations, in this article we propose to use internet of things (IoT) technologies and automatic control algorithms to construct an energy-efficient remote control architecture for grow lights monitoring in indoor farming. The proposed architecture consists of using a master–slave device configuration in which the slave devices are used to control the local light conditions in growth chambers while the master device is used to monitor the plant factory through wireless communication with the slave devices. The devices all together make a 6LoWPAN network in which the RPL protocol is used to manage data transfer. This allows for the precise and centralized control of the growth conditions and the real-time monitoring of plants. The proposed control architecture can be associated with a decision support system to improve yields and quality at low costs. The developed method is evaluated in emulation software (Contiki-NG v4.7),its scalability to the case of large-scale production facilities is tested, and the obtained results are presented and discussed. The proposed approach is promising in dealing with control, cost, and scalability issues and can contribute to making smart indoor agriculture more effective and sustainable.