Collaborative object transportation using multiple Micro Aerial Vehicles (MAVs) with limited communication is a challenging problem. In this paper we address the problem of multiple MAVs mechanically coupled to a bulky object for transportation purposes without explicit communication between agents. The apparent physical properties of each agent are reshaped to achieve robustly stable transport...

We study a class of robust, or worst case scenario, optimal control problems for jump diffusions. The scenario is represented by a probability measure equivalent to the initial probability law. We show that if there exists a control that annihilates the noise coefficients in the state equation and a scenario which is an equivalent martingale measure for a specific process which is related to th...

One of the most important problems for Wireless Sensor Networks (WSNs) is energy consumption since it ultimately determines the lifetime of the system. Medium Access Control (MAC) protocols based on schedules (e.g., TDMA) play an important role, since collisions and idle listening can be avoided, effectively reducing energy consumption. The problem of determining good transmission schedules for...

A stochastic minimax optimal control strategy for uncertain quasi-Hamiltonian systems is proposed based on the stochastic averaging method, stochastic maximum principle and stochastic differential game theory. First, the partially completed averaged Itô stochastic differential equations are derived from a given system by using the stochastic averaging method for quasi-Hamiltonian systems with u...

Modelling and simulation of robotic control systems allows for low cost analysis and experimentation. However, creating these models requires a level of technical expertise. To improve the technical quality of such models, we propose a case-based reasoning approach to learn the behaviour of models using the DEVS formalism. By observing a desired behaviour, in the form of outputs produced in res...

Striping is a technique that distributes le content over multiple storage servers and thereby enables parallel access. In order to be able to provide a consistent view across le data and metadata operations, the le system has to track the layout of the le and know where the le ends and where it contains gaps. In this paper, we present a light-weight protocol for maintaining a consistent notion ...

There exist various approaches to software testing and one popular approach is ‘path coverage’, in which emphasis is placed on testing all possible paths that can be executed in a programme module. This paper describes a novel approach in designing test cases using control flow criteria for path coverage.