In this paper, we investigate how heterogeneous multi-robot systems with different sensing capabilities can observe a domain with an apriori unknown density function. Common coverage control techniques are targeted towards homogeneous teams of robots and do not consider what happens when the sensing capabilities of the robots are vastly different. This work proposes an extension to Lloyd's algorithm that fuses coverage information from heterogeneous robots with differing sensing capabilities to effectively observe a domain. Namely, we study a bimodal team of robots consisting of aerial and ground agents. In our problem formulation we use aerial robots with coarse domain sensors to approximate the number of ground robots needed within their sensing region to effectively cover it. This information is relayed to ground robots, who perform an extension to the Lloyd's algorithm that balances a locally focused coverage controller with a globally focused distribution controller. The stability of the Lloyd's algorithm extension is proven and its performance is evaluated through simulation and experiments using the Robotarium, a remotely-accessible, multi-robot testbed.

Growth rates and biomass yields are key descriptors used in microbiology studies to understand how microbial species respond to changes in the environment. Of these, biomass yield estimates are typically obtained using cell counts and measurements of the feed substrate. These quantities are perturbed with measurement noise however. Perhaps most crucially, estimating biomass from cell counts, as needed to assess yields, relies on an assumed cell weight. Noise and discrepancies on these assumptions can lead to significant changes in conclusions regarding a microbes' response. This article proposes a methodology to address these challenges using probabilistic macrochemical models of microbial growth. It is shown that a model can be developed to fully use the experimental data, greatly relax the assumptions on the cell weight, and provides uncertainty estimates of key parameters. These capabilities are demonstrated and validated herein using several case studies with synthetically generated microbial growth data.