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This paper delves into a rendezvous scenario involving a chaser and a target spacecraft, focusing on the application of Model Predictive Control (MPC) to design a controller capable of guiding the chaser toward the target. The operational principle of spacecraft thrusters, requiring a minimum activation time that leads to the existence of a control deadband, introduces mixed-integer constraints into the optimization, posing a considerable computational challenge due to the exponential complexity on the number of integer constraints. We address this complexity by presenting two solver algorithms that efficiently approximate the optimal solution in significantly less time than standard solvers, making them well-suited for real-time applications., Comment: Published in IEEE Control Systems Letters

This paper addresses the trajectory planning problem for search and coverage missions with an Unmanned Aerial Vehicle (UAV). The objective is to devise optimal coverage trajectories based on a utility map describing prior region information, assumed to be effectively approximated by a Gaussian Mixture Model (GMM). We introduce a Model Predictive Control (MPC) algorithm employing a relaxed formulation that promotes the exploration of the map by preventing the UAV from revisiting previously covered areas. This is achieved by penalizing intersections between the UAV's visibility regions along its trajectory. The algorithm is assessed in MATLAB and validated in Gazebo, as well as in outdoor experimental tests. The results show that the proposed strategy can generate efficient and smooth trajectories for search and coverage missions.

Set-valued state estimation when in the presence of uncertainties in the model have been addressed in the literature essentially following three main approaches: i) interval arithmetic of the uncertain dynamics with the estimates; ii) factorizing the uncertainty into matrices with unity rank; and, iii) performing the convex hull for the vertices of the uncertainty space. Approach i) and ii) introduce a lot of conservatism because both disregard the relationship of the parameters with the entries of the dynamics matrix. On the other hand, approach iii) has a large growth on the number of variables required to represent the set or is approximated losing its main advantage in comparison with i) and ii). In this paper, with the application of autonomous vehicles in GPS-denied areas that resort to beacon signals for localization, we develop an exact (meaning no added conservatism) and optimal (smallest growth in the number of variables) closed-form definition for the convex hull of Convex Constrained Generators (CCGs). This results in a more efficient method to represent the minimum volume convex set corresponding to the state estimation. Given that reductions methods are still lacking in the literature for CCGs, we employ an approximation using ray-shooting that is comparable in terms of accuracy with methods for Constrained Zonotopes as the ones implemented in CORA. Simulations illustrate the greater accuracy of CCGs with the proposed convex hull operation in comparison to Constrained Zonotopes., Comment: IFAC paper to be presented at the World Congress in July 2023

We tackle the problem of a set of agents achieving resilient consensus in the presence of attacked agents. We present a discrete-time reputation-based consensus algorithm for synchronous and asynchronous networks by developing a local strategy where, at each time, each agent assigns a reputation (between zero and one) to each neighbor. The reputation is then used to weigh the neighbors' values in the update of its state. Under mild assumptions, we show that: (i) the proposed method converges exponentially to the consensus of the regular agents; (ii) if a regular agent identifies a neighbor as an attacked node, then it is indeed an attacked node; (iii) if the consensus value of the normal nodes differs from that of any of the attacked nodes' values, then the reputation that a regular agent assigns to the attacked neighbors goes to zero. Further, we extend our method to achieve resilience in the scenarios where there are noisy nodes, dynamic networks and stochastic node selection. Finally, we illustrate our algorithm with several examples, and we delineate some attacking scenarios that can be dealt by the current proposal but not by the state-of-the-art approaches.

Hypercycles are information integration systems which are thought to overcome the information crisis of prebiotic evolution by ensuring the coexistence of several short templates. For imperfect template replication, we derive a simple expression for the maximum number of distinct templates $n_m$ that can coexist in a hypercycle and show that it is a decreasing function of the length $L$ of the templates. In the case of high replication accuracy we find that the product $n_m L$ tends to a constant value, limiting thus the information content of the hypercycle. Template coexistence is achieved either as a stationary equilibrium (stable fixed point) or a stable periodic orbit in which the total concentration of functional templates is nonzero. For the hypercycle system studied here we find numerical evidence that the existence of an unstable fixed point is a necessary condition for the presence of periodic orbits., Comment: 4 pages, 1 figure, submitted to J. Theor. Biol

The coexistence between different types of templates has been the choice solution to the information crisis of prebiotic evolution, triggered by the finding that a single RNA-like template cannot carry enough information to code for any useful replicase. In principle, confining $d$ distinct templates of length $L$ in a package or protocell, whose survival depends on the coexistence of the templates it holds in, could resolve this crisis provided that $d$ is made sufficiently large. Here we review the prototypical package model of Niesert et al. 1981 which guarantees the greatest possible region of viability of the protocell population, and show that this model, and hence the entire package approach, does not resolve the information crisis. This is so because to secure survival the total information content of the protocell, $Ld$, must tend to a constant value that depends only on the spontaneous error rate per nucleotide of the template replication mechanism. As a result, an increase of $d$ must be followed by a decrease of $L$ to ensure the protocell viability, so that the net information gain is null., Comment: 11 pages, two columns, 11 figures, submitted to J. Theor. Biol

The coexistence between different informational molecules has been the preferred mode to circumvent the limitation posed by imperfect replication on the amount of information stored by each of these molecules. Here we reexamine a classic package model in which distinct information carriers or templates are forced to coexist within vesicles, which in turn can proliferate freely through binary division. The combined dynamics of vesicles and templates is described by a multitype branching process which allows us to write equations for the average number of the different types of vesicles as well as for their extinction probabilities. The threshold phenomenon associated to the extinction of the vesicle population is studied quantitatively using finite-size scaling techniques. We conclude that the resultant coexistence is too frail in the presence of parasites and so confinement of templates in vesicles without an explicit mechanism of cooperation does not resolve the information crisis of prebiotic evolution., Comment: 9 pages, 8 figures, accepted version, to be published in PRE

The Magicicada spp. life cycles with its prime periods and highly synchronized emergence have defied reasonable scientific explanation since its discovery. During the last decade several models and explanations for this phenomenon appeared in the literature along with a great deal of discussion. Despite this considerable effort, there is no final conclusion about this long standing biological problem. Here, we construct a minimal automaton model without predation/parasitism which reproduces some of these aspects. Our results point towards competition between different strains with limited dispersal threshold as the main factor leading to the emergence of prime numbered life cycles., Comment: 13 pages, 6 figures, final version, conditionally accepted (Physica A)

The coexistence of distinct templates is a common feature of the diverse proposals advanced to resolve the information crisis of prebiotic evolution. However, achieving robust template coexistence turned out to be such a difficult demand that only a class of models, the so-called package models, seems to have met it so far. Here we apply Wright's Island formulation of group selection to study the conditions for the coexistence of two distinct template types confined in packages (vesicles) of finite capacity. In particular, we show how selection acting at the level of the vesicles can neutralize the pressures towards the fixation of any one of the template types (random drift) and of the type with higher replication rate (deterministic competition). We give emphasis to the role of the distinct generation times of templates and vesicles as yet another obstacle to coexistence., Comment: 7 pages, 8 figures