Distributed orientation agreement in a group of robots

In this article, a method for the agreement of a set of robots on a common reference orientation based on a distributed consensus algorithm is described. It only needs that robots detect the relative positions of their neighbors and communicate with them. Two different consensus algorithms based on the exchange of information are proposed, tested and analyzed. Systematic experiments were carried out in simulation and with real robots in order to test the method. Experimental results show that the robots are able to agree on the reference orientation under certain conditions. Scalability with an increasing number of robots was tested successfully in simulation with up to 49 robots. Experiments with real robots succeeded proving that the proposed method works in reality.

Distributed Orientation Agreement in a Group of Robots

In this article, a method for the agreement of a set of robots on a common reference orientation based on a distributed consensus algorithm is described. It only needs that robots detect the relative positions of their neighbors and communicate with them. Two different consensus algorithms based on the exchange of information are proposed, tested and analyzed. Systematic experiments were carried out in simulation and with real robots in order to test the method. Experimental results show that the robots are able to agree on the reference orientation under certain conditions. Scalability with an increasing number of robots was tested successfully in simulation with up to 49 robots. Experiments with real robots succeeded proving that the proposed method works in reality.

Frost tolerance of eight olive cultivars

En este trabajo se estudia la relacion entre la resistencia al frio de 8 variedades de olivo observada en campo y la medida en laboratorio, a partir de la temperatura de congelacion letal. Se observo una correlacion entre el porcentaje de brotes helado y la temperatura de congelacion letal 50%. Las variedades mas resistentes fueron Cornicabra, Arbequina y Picual. Las mas sensibles fue Empeltre.