In this paper, we discuss quantization effects in rigid formation control systems when target formations are described by interagent distances. Because of practical sensing and measurement constraints, we consider in this paper distance measurements in their quantized forms. We show that under gradient\uffe2\uff80\uff90based formation control, in the case of uniform quantization, the distance errors converge locally to a bounded set whose size depends on the quantization error, while in the case of logarithmic quantization, all distance errors converge locally to zero. A special quantizer involving the signum function is then considered with which all agents can only measure coarse distances in terms of binary information. In this case, the formation converges locally to a target formation within a finite time. Lastly, we discuss the effect of asymmetric uniform quantization on rigid formation control.The representation of structural dynamics in the absence of physics-based models, is often accomplished through the identification of parametric models, such as the autoregressive with exogenous inputs, e.g. ARX models. When the structure is amenable to environmental variations, parameter-varying extensions of the original ARX model can be implemented, allowing for tracking of the operational variability. Yet, the latter occurs in sufficiently longer time-scales (days, weeks, months), as compared to system dynamics. For inferring a \uffe2\uff80\uff9cglobal\uffe2\uff80\uff9d, long time-scale varying ARX model, data from a full operational cycle has to typically become available. In addition, when the sensor network comprises multiple nodes, the identification of long time-scale varying, vector ARX models grow in complexity. We address these issues by proposing a distributed framework for structural identification, damage detection and localization. Its main features are: (i) the individual estimation of local, single-input-single-output ARX models at every operational point; (ii) the long time-scale representation of each individual ARX coefficient via a Gaussian process regression, which captures dependency on varying Environmental and Operational Conditions (EOCs); (iii) the establishment of a distributed residual generation algorithm for damage detection, which produces time-series of well-defined stationary statistics, with detected discrepancies used for damage diagnosis; and, (iv) exploitation of ARX-inferred mode shape curvatures, obtained via ARX-inferred global state-space models, of the healthy and damaged states, for damage localization. The method is assessed via application on two numerical case studies of different complexity, with the results confirming its efficacy for diagnostics under varying EOCs.
", "keywords": ["Technology", "0209 industrial biotechnology", "varying environmental and operational conditions", "Structural health monitoring", "structural health monitoring", "Damage detection and localization", "T", "mode shape curvatures", "distributed sensor network", "Autoregressive with exogenous inputs", "02 engineering and technology", "0201 civil engineering", "autoregressive with exogenous inputs", "Structural health monitoring; Varying environmental and operational conditions; Damage detection and localization; Gaussian process regression; Autoregressive with exogenous inputs; Distributed sensor network; Mode shape curvatures", "Distributed sensor network", "Mode shape curvatures", "damage detection and localization", "Varying environmental and operational conditions", "Gaussian process regression"]}, "links": [{"href": "http://www.mdpi.com/2224-2708/9/3/41/pdf"}, {"href": "https://doi.org/10.3929/ethz-b-000445427"}, {"rel": "related", "href": "https://repository.soilwise-he.eu/cat/collections/metadata:main/items/Journal%20of%20Sensor%20and%20Actuator%20Networks", "name": "related record", "description": "related record", "type": "application/json"}, {"rel": "self", "type": "application/geo+json", "title": "10.3929/ethz-b-000445427", "name": "item", "description": "10.3929/ethz-b-000445427", "href": "https://repository.soilwise-he.eu/cat/collections/metadata:main/items/10.3929/ethz-b-000445427"}, {"rel": "collection", "type": "application/json", "title": "Collection", "name": "collection", "description": "Collection", "href": "https://repository.soilwise-he.eu/cat/collections/metadata:main"}], "time": {"date": "2020-09-08T00:00:00Z"}}, {"id": "10.48550/arxiv.1810.00182", "type": "Feature", "geometry": null, "properties": {"updated": "2026-07-25T16:21:27Z", "type": "Report", "title": "Collaborative target-tracking control using multiple autonomous fixed-wing UAVs with constant speeds", "description": "Open AccessThis paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with nonholonomic constraints, assuming that UAVs fly at constant altitudes in the nominal operation mode. The controller is designed such that all fixed-wing UAVs as a group can collaboratively track a desired target's position and velocity. We first present conditions on the relative speeds of tracking UAVs and the target to ensure that the tracking objective can be achieved when UAVs are subject to constant speed constraints. We construct a reference velocity that includes both the target's velocity and position as feedback, which is to be tracked by the group centroid. In this way, all vehicles' headings are controlled such that the group centroid follows a reference trajectory that successfully tracks the target's trajectory. A spacing controller is further devised to ensure that all vehicles stay close to the group centroid trajectory. Trade-offs in the controller design and performance limitations of the target tracking control due to the constant-speed constraint are also discussed in detail. Experimental results with three fixed-wing UAVs tracking a target rotorcraft are provided.", "keywords": ["FOS: Computer and information sciences", "Computer Science - Robotics", "0209 industrial biotechnology", "Optimization and Control (math.OC)", "FOS: Electrical engineering", " electronic engineering", " information engineering", "FOS: Mathematics", "Computer Science - Multiagent Systems", "02 engineering and technology", "Systems and Control (eess.SY)", "Electrical Engineering and Systems Science - Systems and Control", "Mathematics - Optimization and Control", "Robotics (cs.RO)", "Multiagent Systems (cs.MA)"]}, "links": [{"href": "https://doi.org/10.48550/arxiv.1810.00182"}, {"rel": "self", "type": "application/geo+json", "title": "10.48550/arxiv.1810.00182", "name": "item", "description": "10.48550/arxiv.1810.00182", "href": "https://repository.soilwise-he.eu/cat/collections/metadata:main/items/10.48550/arxiv.1810.00182"}, {"rel": "collection", "type": "application/json", "title": "Collection", "name": "collection", "description": "Collection", "href": "https://repository.soilwise-he.eu/cat/collections/metadata:main"}], "time": {"date": "2018-01-01T00:00:00Z"}}, {"id": "10259/7669", "type": "Feature", "geometry": null, "properties": {"updated": "2026-07-25T16:24:38Z", "type": "Journal Article", "created": "2022-09-18", "title": "Comparative Life Cycle Assessment of Green Sand Casting and Low Pressure Die Casting for the production of self-cleaning AlMg3-TiO2 Metal Matrix Composite", "description": "Open AccessThis research has received funding from the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation programme (Grant Agreement No. 826312) in the context of the LightMe project. It has also received funds from Board of Education of Junta de Castilla y Le\u00f3n and the European Social Fund (EDU/1508/2020). The authors want to acknowledge the support of \u00d6GI (\u00d6sterreichisches Gie\u00dferei-Institut) for the data about processes.", "keywords": ["0209 industrial biotechnology", "Materiales", "Ecology", "Titanium oxide", "Aluminium alloy", "Low pressure die casting", "02 engineering and technology", "01 natural sciences", "7. Clean energy", "Life cycle assessment", "Green sand casting", "Metal matrix composites", "Materials", "QH540-549.5", "0105 earth and related environmental sciences"]}, "links": [{"href": "https://doi.org/10259/7669"}, {"rel": "related", "href": "https://repository.soilwise-he.eu/cat/collections/metadata:main/items/Ecological%20Indicators", "name": "related record", "description": "related record", "type": "application/json"}, {"rel": "self", "type": "application/geo+json", "title": "10259/7669", "name": "item", "description": "10259/7669", "href": "https://repository.soilwise-he.eu/cat/collections/metadata:main/items/10259/7669"}, {"rel": "collection", "type": "application/json", "title": "Collection", "name": "collection", "description": "Collection", "href": "https://repository.soilwise-he.eu/cat/collections/metadata:main"}], "time": {"date": "2022-11-01T00:00:00Z"}}, {"id": "1885/202815", "type": "Feature", "geometry": null, "properties": {"updated": "2026-07-25T16:25:18Z", "type": "Journal Article", "created": "2018-08-07", "title": "Quantization effects and convergence properties of rigid formation control systems with quantized distance measurements", "description": "SummaryIn this paper, we discuss quantization effects in rigid formation control systems when target formations are described by interagent distances. Because of practical sensing and measurement constraints, we consider in this paper distance measurements in their quantized forms. We show that under gradient\uffe2\uff80\uff90based formation control, in the case of uniform quantization, the distance errors converge locally to a bounded set whose size depends on the quantization error, while in the case of logarithmic quantization, all distance errors converge locally to zero. A special quantizer involving the signum function is then considered with which all agents can only measure coarse distances in terms of binary information. In this case, the formation converges locally to a target formation within a finite time. Lastly, we discuss the effect of asymmetric uniform quantization on rigid formation control.