In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control barrier functions (CBFs). The proposed control framework employs two kinds of CBFs to impose safety constraints on the UAVs' motion. The first class of CBFs (LCBF) is a three-dimensional exponentially decaying function centered above the landing platform, designed to safely and precisely land UAVs on the UGVs. The second set is a spherical CBF (SCBF), defined between every pair of UAVs, which avoids collisions between them. The LCBF is time-varying and adapts to the motions of the UGVs. In the proposed CBF approach, the control input from the UAV's nominal tracking controller designed to reach the landing platform is filtered to choose a minimally-deviating control input that ensures safety (as defined by the CBFs). As the control inputs of every UAV are shared in establishing multiple CBF constraints, we prove that the control inputs are shared without conflict in rendering the safe sets forward invariant. The performance of the control framework is validated through a simulated scenario involving three UAVs landing on three moving targets.

A.2024.0146 1 Rolling Horizon Coverage Control with Collaborative Autonomous Agents Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides, Christos G. Panayiotou and Marios M. Polycarpou Abstract This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area of a 3D object of interest. The collaborative coverage problem, formulated, as a distributed model predictive control problem, optimizes the agents' motion and camera control inputs, while considering inter-agent constraints aiming at reducing work redundancy. The proposed coverage controller integrates constraints based on light-path propagation techniques to predict the parts of the object's surface that are visible with regard to the agents' future anticipated states. This work also demonstrates how complex, non-linear visibility assessment constraints can be converted into logical expressions that are embedded as binary constraints into a mixed-integer optimization framework. The proposed approach has been demonstrated through simulations and practical applications for inspecting buildings with unmanned aerial vehicles (UA Vs). I NTRODUCTION The interest in swarm systems such as systems utilizing multiple autonomous unmanned aerial vehicles (UA Vs) has skyrocketed over the last few decades. Rapid advancements in robotics, automation and artificial intelligence coupled with the decreasing costs of electronic components have fuelled a remarkable surge in interest towards the technologies and applications of swarming systems. This work addresses the challenge of coverage planning and control using multiple collaborative intelligent autonomous agents, specifically autonomous UA Vs. Coverage planning [1] is crucial in several application domains including search and rescue operations and critical infrastructure inspections. It is one of the essential functionalities that can notably enhance the autonomy of existing swarming systems enabling them to execute fully automated missions in the aforementioned scenarios. In coverage planning our objective is to design trajectories that allow a team of autonomous mobile agents to comprehensively cover a designated area or points of interest. Concurrently we aim to optimize a specific mission goal such as minimizing the mission's duration and energy consumption of the agents. This work introduces a coverage control framework that optimizes both the kinematic and camera control inputs of multiple UA V agents simultaneously.

This paper presents a comprehensive review of AI-driven prognostics for State of Health (SoH) prediction in lithium-ion batteries. We compare the effectiveness of various AI algorithms, including FFNN, LSTM, and BiLSTM, across multiple datasets (CALCE, NASA, UDDS) and scenarios (e.g., varying temperatures and driving conditions). Additionally, we analyze the factors influencing SoH fluctuations, such as temperature and charge-discharge rates, and validate our findings through simulations. The results demonstrate that BiLSTM achieves the highest accuracy, with an average RMSE reduction of 15% compared to LSTM, highlighting its robustness in real-world applications.

The rapid development of universal machine learning interatomic potentials (uMLIPs) has demonstrated the possibility for generalizable learning of the universal potential energy surface. In principle, the accuracy of uMLIPs can be further improved by bridging the model from lower-fidelity datasets to high-fidelity ones. In this work, we analyze the challenge of this transfer learning problem within the CHGNet framework. We show that significant energy scale shifts and poor correlations between GGA and r$^2$SCAN pose challenges to cross-functional data transferability in uMLIPs. By benchmarking different transfer learning approaches on the MP-r$^2$SCAN dataset of 0.24 million structures, we demonstrate the importance of elemental energy referencing in the transfer learning of uMLIPs. By comparing the scaling law with and without the pre-training on a low-fidelity dataset, we show that significant data efficiency can still be achieved through transfer learning, even with a target dataset of sub-million structures. We highlight the importance of proper transfer learning and multi-fidelity learning in creating next-generation uMLIPs on high-fidelity data.

Numerous applications necessitate the computation of numerical solutions to differential equations across a wide range of initial conditions and system parameters, which feeds the demand for efficient yet accurate numerical integration methods.This study proposes a neural network (NN) enhancement of classical numerical integrators. NNs are trained to learn integration errors, which are then used as additive correction terms in numerical schemes. The performance of these enhanced integrators is compared with well-established methods through numerical studies, with a particular emphasis on computational efficiency. Analytical properties are examined in terms of local errors and backward error analysis. Embedded Runge-Kutta schemes are then employed to develop enhanced integrators that mitigate generalization risk, ensuring that the neural network's evaluation in previously unseen regions of the state space does not destabilize the integrator. It is guaranteed that the enhanced integrators perform at least as well as the desired classical Runge-Kutta schemes. The effectiveness of the proposed approaches is demonstrated through extensive numerical studies using a realistic model of a wind turbine, with parameters derived from the established simulation framework OpenFast.

Donald Trump signed four executive orders on Tuesday aimed at reviving coal, the dirtiest fossil fuel that has long been in decline, and which substantially contributes to planet-heating greenhouse gas emissions and pollution. Environmentalists expressed dismay at the news, saying that Trump was stuck in the past and wanted to make utility customers "pay more for yesterday's energy". The US president is using emergency authority to allow some older coal-fired power plants scheduled for retirement to keep producing electricity. The move, announced at a White House event on Tuesday afternoon, was described by White House officials as being in response to increased US power demand from growth in datacenters, artificial intelligence and electric cars. Trump, standing in front of a group of miners in hard hats, said he would sign an executive order "that slashes unnecessary regulations that targeted the beautiful, clean coal".

FIRST ON FOX: The Department of Energy, the Department of the Interior and the Environmental Protection Agency are set to announce a bevy of new actions Tuesday afternoon that will "unleash" coal energy following President Donald Trump's expected signature on an executive order reinvigorating "America's beautiful clean coal industry," Fox News Digital learned. "The American people need more energy, and the Department of Energy is helping to meet this demand by unleashing supply of affordable, reliable, secure energy sources -- including coal," Department of Energy Secretary Chris Wright said in a Tuesday statement provided to Fox News Digital. "Coal is essential for generating 24/7 electricity generation that powers American homes and businesses, but misguided policies from previous administrations have stifled this critical American industry," he said. "With President Trump's leadership, we are cutting the red tape and bringing back common sense." Trump is expected to sign an executive order Tuesday afternoon that will cut through red tape surrounding the coal industry, including directing the National Energy Dominance Council to designate coal as a "mineral," end a current pause to coal leasing on federal lands, promote coal and coal technology exports, and encourage the use of coal to power artificial intelligence initiatives, Fox News Digital learned of the upcoming executive order.

If you thought robot dogs were the coolest animatronic animals out there, prepare to think again. Kawasaki Heavy Industries, a company better known for its high-end motorcycles, has unveiled a hydrogen-powered, ride-on robo-horse. The bizarre device was unveiled at the Osaka Kansai Expo on April 4 as part of Kawasaki's'Impulse to Move' project. Dubbed the CORLEO, this two-seater quadruped is capable of galloping over almost any terrain. The company calls it a'revolutionary off-road personal mobility vehicle' which swaps out the familiar wheels for four robotic legs. To steer, all you need to do is move your body and the machine's AI vision will pick out the best route to take.

Given two boundary distributions, the Schr\"odinger Bridge (SB) problem seeks the ``most likely`` random evolution between them with respect to a reference process. It has revealed rich connections to recent machine learning methods for generative modeling and distribution matching. While these methods perform well in Euclidean domains, they are not directly applicable to topological domains such as graphs and simplicial complexes, which are crucial for data defined over network entities, such as node signals and edge flows. In this work, we propose the Topological Schr\"odinger Bridge problem (TSBP) for matching signal distributions on a topological domain. We set the reference process to follow some linear tractable topology-aware stochastic dynamics such as topological heat diffusion. For the case of Gaussian boundary distributions, we derive a closed-form topological SB (TSB) in terms of its time-marginal and stochastic differential. In the general case, leveraging the well-known result, we show that the optimal process follows the forward-backward topological dynamics governed by some unknowns. Building on these results, we develop TSB-based models for matching topological signals by parameterizing the unknowns in the optimal process as (topological) neural networks and learning them through likelihood training. We validate the theoretical results and demonstrate the practical applications of TSB-based models on both synthetic and real-world networks, emphasizing the role of topology. Additionally, we discuss the connections of TSB-based models to other emerging models, and outline future directions for topological signal matching.

Visual-inertial odometry (VIO) is widely used for state estimation in autonomous micro aerial vehicles using onboard sensors. Current methods improve VIO by incorporating a model of the translational vehicle dynamics, yet their performance degrades when faced with low-accuracy vehicle models or continuous external disturbances, like wind. Additionally, incorporating rotational dynamics in these models is computationally intractable when they are deployed in online applications, e.g., in a closed-loop control system. We present HDVIO2.0, which models full 6-DoF, translational and rotational, vehicle dynamics and tightly incorporates them into a VIO with minimal impact on the runtime. HDVIO2.0 builds upon the previous work, HDVIO, and addresses these challenges through a hybrid dynamics model combining a point-mass vehicle model with a learning-based component, with access to control commands and IMU history, to capture complex aerodynamic effects. The key idea behind modeling the rotational dynamics is to represent them with continuous-time functions. HDVIO2.0 leverages the divergence between the actual motion and the predicted motion from the hybrid dynamics model to estimate external forces as well as the robot state. Our system surpasses the performance of state-of-the-art methods in experiments using public and new drone dynamics datasets, as well as real-world flights in winds up to 25 km/h. Unlike existing approaches, we also show that accurate vehicle dynamics predictions are achievable without precise knowledge of the full vehicle state.