To be successful in multi-player drone racing, a player must not only follow the race track in an optimal way, but also compete with other drones through strategic blocking, faking, and opportunistic passing while avoiding collisions. Since unveiling one's own strategy to the adversaries is not desirable, this requires each player to independently predict the other players' future actions. Nash equilibria are a powerful tool to model this and similar multi-agent coordination problems in which the absence of communication impedes full coordination between the agents. In this paper, we propose a novel receding horizon planning algorithm that, exploiting sensitivity analysis within an iterated best response computational scheme, can approximate Nash equilibria in real time. We demonstrate that our solution effectively competes against alternative strategies in a large number of drone racing simulations.
Forming biomolecular
hydrogels with a combination of high strength
and biocompatibility is still a challenge. Herein, we demonstrated
a green gas (CO2)-mediated chemical cross-linking strategy
that can produce a double-network cellulose/silk fibroin hydrogel
(CSH) with significantly elevated mechanical strength while bypassing
the toxicity of routine cross-linking agents. Specifically, cellulose
and silk fibroin (SF) were first covalently cross-linked in NaOH/urea
solution to create the primary network. Then, CO2 gas was
introduced into the resultant CSH precursor gels to form carbonates
to reduce the pH value of the intra-hydrogel environment from basic
to neutral conditions. The pH reduction induced the ordered aggregation
of cellulose chains and concomitant hydrogen bonding between these
chains, leading to the formation of hydrogels with significantly improved
mechanical strength. The CSHs could promote the adhesion and proliferation
of the mouse fibroblast cell line (L929), and the CSHs proved to be
of low hemolysis and could accelerate blood clotting and decrease
blood loss. The CSHs with SF content of 1 wt % healed the wound in
vivo within only 12 days through the acceleration of re-epithelialization
and revascularization. Consequently, our current work not only reported
a feasible alternative for wound dressings but also provided a new
green gas-mediated cross-linking strategy for generating mechanically
strong, hemostatic, and biocompatible hydrogels.
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