Full-Body Torque-Level Non-linear Model Predictive Control for Aerial Manipulation

Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings important advantages over other existing techniques. The full-body dynamics, along with the prediction capability of the optimal control problem (OCP) solved at the core of the controller, allows to actuate the robot in line with its dynamics. This fact enhances the robot capabilities and allows, e.g., to perform intricate maneuvers at high dynamics while optimizing the amount of energy used. Despite the many similarities between humanoids or quadrupeds and UAMs, full-body torque-level nMPC has rarely been applied to UAMs. This paper provides a thorough description of how to use such techniques in the field of aerial manipulation. We give a detailed explanation of the different parts involved in the OCP, from the UAM dynamical model to the residuals in the cost function. We develop and compare three different nMPC controllers: Weighted MPC, Rail MPC, and Carrot MPC, which differ on the structure of their OCPs and on how these are updated at every time step. To validate the proposed framework, we present a wide variety of simulated case studies. First, we evaluate the trajectory generation problem, i.e., optimal control problems solved offline, involving different kinds of motions (e.g., aggressive maneuvers or contact locomotion) for different types of UAMs. Then, we assess the performance of the three nMPC controllers, i.e., closed-loop controllers solved online, through a variety of realistic simulations. For the benefit of the community, we have made available the source code related to this work.

Growth index of matter perturbations in running vacuum models

We derive for the first time the growth index of matter perturbations of the FLRW flat cosmological models in which the vacuum energy depends on redshift. A particularly well motivated model of this type is the so-called quantum field vacuum, in which apart from a leading constant term $Lambda_0$ there is also a $H^{2}$-dependence in the functional form of vacuum, namely $Lambda(H)=Lambda_{0}+3 u (H^{2}-H^{2}_{0})$. Since $| u|ll1$ this form endows the vacuum energy of a mild dynamics which affects the evolution of the main cosmological observables at the background and perturbation levels. Specifically, at the perturbation level we find that the growth index of the running vacuum cosmological model is $gamma_{Lambda_{H}} approx frac{6+3 u}{11-12 u}$ and thus it nicely extends analytically the result of the $Lambda$CDM model, $gamma_{Lambda}approx 6/11$.

Thermodynamical aspects of running vacuum models

The thermal history of a large class of running vacuum models in which the effective cosmological term is described by a truncated power series of the Hubble rate, whose dominant term is $Lambda (H) propto H^{n+2}$, is discussed in detail. Specifically, by assuming that the ultra-relativistic particles produced by the vacuum decay emerge into space-time in such a way that its energy density $rho_r propto T^{4}$, the temperature evolution law and the increasing entropy function are analytically calculated. For the whole class of vacuum models explored here we findthat the primeval value of the comoving radiation entropy density (associated to effectively massless particles) starts from zero and evolves extremely fast until reaching a maximum near the end of the vacuum decay phase, where it saturates. The late time conservation of the radiation entropy during the adiabatic FRW phase also guarantees that the whole class of running vacuum models predicts thesame correct value of the present day entropy, $S_{0} sim 10^{87-88}$ (in natural units), independently of the initial conditions. In addition, by assuming Gibbons-Hawking temperature as an initial condition, we find that the ratio between the late time and primordial vacuum energy densities is in agreement with naive estimates from quantum field theory, namely, $rho_{Lambda 0}/rho_{Lambda I} sim10^{-123}$. Such results are independent on the power $n$ and suggests that the observed Universe may evolve smoothly between two extreme, unstable, nonsingular de Sitter phases.

RT-SLAM: A Generic and Real-Time Visual SLAM Implementation

This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented.