This paper is concerned with rigid formations of mobile autonomous agents using a leader-follower structure. A formation is a group of agents moving in real 2or 3dimensional space. A formation is called rigid if the distance between each pair of agents does not change over time under ideal conditions. Sensing/communication links between agents are used to maintain a rigid formation. Two agents ...

This paper presents a method for control of formations of Unmanned Aerial Vehicles (UAVs) in urban environments with several obstacles. Therefore the trajectories for each UAV are planned using mixed integer quadratic programming (MIQP) to describe a minimization problem. The result of this minimization problem then characterizes a collision free trajectory for each UAV using the commanded form...

In this paper, we analyze tactical conflicts between attacking formations and blocking formations in the phase of reception attack in volleyball, using a zerosum game model. In this model, we categorize the attacking formations into 9 patterns which consist of 3 moving patterns of forward players and 3 positions (right, center and left) from which the ball can be spiked. We also categorize the ...

This Account outlines the recent efforts of developing catalysis under the ambient conditions of air and water for synthetic purposes from the author's laboratory. The discussions are focused on catalytic reactions (mostly C-C bond formations) other than oxidations via late transition metals. It includes the following aspects: (1) copper-catalyzed C-C bond formations; (2) palladium-catalyzed C-...

Compared to typical asphalt mixtures, poroelastic mixtures are characterised by high porosity and flexibility, which desirable for traffic noise reduction. However, the same properties increase risk of debonding from lower layer, is a significant source premature damage. The study investigates factors – tack coat agent, type texture layer have greatest impact on interlayer bonding quality. From...

Given a pair of keyframe formations for a group consisting of multiple individuals, we present a spectral-based approach to smoothly transforming a source group formation into a target formation while respecting the clusters of the involved individuals. The proposed method provides an effective means for controlling the macroscopic spatiotemporal arrangement of individuals for applications such...

Torsion of elastic and poroelastic circular shaft of radially inhomogeneous, cylindrically orthotropic materials is studied with emphasis on the end effects example for extruder. To examine the conjecture of Saint-Venant’s torsion, we consider torsion of circular shaft with one end fixed and the other end free on which tractions that results in a pure torque are prescribed arbitrarily over the fr...

Geological carbon storage is one of the technologies required to arrive at ambitious yet realistic net-zero emission target and climate change neutrality. Injected CO2 in geological formations acidifies resident brine, inducing chemical reactions with minerals. Reactions may alter hydraulic mechanical properties rock have an impact on reservoir wellbore integrity, injectivity, long-term compact...