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Visual Collaboration Leader-Follower UAV-Formation for Indoor Exploration.

ABSTRACT: UAVs operating in a leader-follower formation demand the knowledge of the relative pose between the collaborating members. This necessitates the RF-communication of this information which increases the communication latency and can easily result in lost data packets. In this work, rather than relying on this autopilot data exchange, a visual scheme using passive markers is presented. Each formation-member carries passive markers in a RhOct configuration. These markers are visually detected and the relative pose of the members is on-board determined, thus eliminating the need for RF-communication. A reference path is then evaluated for each follower that tracks the leader and maintains a constant distance between the formation-members. Experimental studies show a mean position detection error (5 × 5 × 10cm) or less than 0.0031% of the available workspace [0.5 up to 5m, 50.43° × 38.75° Field of View (FoV)]. The efficiency of the suggested scheme against varying delays are examined in these studies, where it is shown that a delay up to 1.25s can be tolerated for the follower to track the leader as long as the latter one remains within its FoV.

SUBMITTER: Evangeliou N

PROVIDER: S-EPMC8764138 | biostudies-literature |

REPOSITORIES: biostudies-literature

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Project description:Cells of epithelial tissue proliferate and pack together to attain an eventual density homeostasis. As the cell density increases, spatial distribution of velocity and force show striking similarity to the dynamic heterogeneity observed elsewhere in dense granular matter. While the physical nature of this heterogeneity is somewhat known in the epithelial cell monolayer, its biological relevance and precise connection to cell density remain elusive. Relevantly, we had demonstrated how large-scale dynamic heterogeneity in the monolayer stress field in the bulk could critically influence the emergence of leader cells at the wound margin during wound closure, but did not connect the observation to the corresponding cell density. In fact, numerous previous reports had essentially associated long-range force and velocity correlation with either cell density or dynamic heterogeneity, without any generalization. Here, we attempted to unify these two parameters under a single framework and explored their consequence on the dynamics of leader cells, which eventually affected the efficacy of collective migration and wound closure. To this end, we first quantified the dynamic heterogeneity by the peak height of four-point susceptibility. Remarkably, this quantity showed a linear relationship with cell density over many experimental samples. We then varied the heterogeneity, by changing cell density, and found this change altered the number of leader cells at the wound margin. At low heterogeneity, wound closure was slower, with decreased persistence, reduced coordination and disruptive leader-follower interactions. Finally, microscopic characterization of cell-substrate adhesions illustrated how heterogeneity influenced orientations of focal adhesions, affecting coordinated cell movements. Together, these results demonstrate the importance of dynamic heterogeneity in epithelial wound healing. This article is part of the theme issue 'Multi-scale analysis and modelling of collective migration in biological systems'.

Dataset Information

Visual Collaboration Leader-Follower UAV-Formation for Indoor Exploration.

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