Abstract-This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

DCRN Chapter 4: Rendezvous {true, false} for S is the coordination task defined by T rndzvs (x [1] ,. .. , x [n]) = true, if x [i] = x [j] , for all (i, j) ∈ E cmm (x [1] ,. .. , x [n]), false, otherwise. Next, assume that, for the same network S = ({1,. .. , n}, R, E cmm), the robots' physical state space is X ⊂ R d. It is convenient to review some basic notation consistent with what we adopted in Chapter 2. We let P = {p [1] ,. .. , p [n] } denote the set of agents' location in X ⊂ R d and we let P be an array of n points in R d. Furthermore, we let avrg denote the average of a finite point set in R d , that is, avrg({q 1 ,. .. , q k }) = 1 k (q 1 + • • • + q k). For ε ∈ R >0 , the ε-rendezvous task T ε-rndzvs : (R d) n → {true, false} for S is defined as follows: T ε-rndzvs is true at P if and only if each robot position p [i] , for i ∈ {1,. .. , n}, is at distance less than ε from the average position of its E cmm-neighbors. Formally, T ε-rndzvs (P) = true ⇐⇒ p [i] − avrg {p [j] | (i, j) ∈ E cmm (P)} 2 < ε, i ∈ {1,. .. , n}. 4.1.3 The connectivity maintenance problem Assume that the communication graph, computed as a function of the robot positions, is connected: How should the robots move in such a way that their communication graph is again connected? Clearly, the problem depends upon: (1) how the robots move; and (2) what proximity graph describes the communication graph or, in the case of relative-sensing networks, what sensor model is available on each robot.

The intramembrane molecular events underlying activation gating in the Streptomyces K+ channel were investigated by site-directed spin-labeling methods and electron paramagnetic resonance spectroscopy. A comparison of the closed and open conformations of the channel revealed periodic changes in spin-label mobility and intersubunit spin-spin interaction consistent with rigid-body movements of the two transmembrane helices TM1 and TM2. These changes involve translations and counterclockwise rotations of both helices relative to the center of symmetry of the channel. The movement of TM2 increases the diameter of the permeation pathway along the point of convergence of the four subunits, thus opening the pore. Although the extracellular residues flanking the selectivity filter remained immobile during gating, small movements were detected at the C-terminal end of the pore helix, with possible implications to the gating mechanism.

Abstract-This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.