Coordinated motion design on lie groups

The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings with simple integrator dynamics. It thereby shows that coordination can be studied in a systematic way once the Lie group geometry of the configuration space is well characterized. Applying the proposed general methodology to particular examples allows to retrieve control laws that have been proposed in the literature on intuitive grounds. A link with Brockett's double bracket flows is also made. The concepts are illustrated on SO(3), SE(2) and SE(3). © 2010 IEEE.

Coordination on Lie groups

This paper studies the coordinated motion of a group of agents evolving on a Lie group. Left-or rightinvariance with respect to the absolute position on the group lead to two different characterizations of relative positions and two associated definitions of coordination (fixed relative positions). Conditions for each type of coordination are derived in the associated Lie algebra. This allows to formulate the coordination problem on Lie groups as consensus in a vector space. Total coordination occurs when both types of coordination hold simultaneously. The discussion in this paper provides a common geometric framework for previously published coordination control laws on SO(3), SE(2) and SE(3). The theory is illustrated on the group of planar rigid motion SE(2). © 2008 IEEE.

Cooperative attitude synchronization in satellite swarms: A consensus approach

The present paper considers the problem of autonomous synchronization of attitudes in a swarm of spacecraft. Building upon our recent results on consensus on manifolds, we model the spacecraft as particles on SO(3) and drive these particles to a common point in SO(3). Unlike the Euler angle or quaternion descriptions, this model suffers no singularities nor double-points. Our approach is fully cooperative and autonomous: we use no leader nor external reference. We present two types of control laws, in terms of applied control torques, that globally drive the swarm towards attitude synchronization: one that requires tree-like or all-to-all inter-satellite communication (most efficient) and one that works with nearly arbitrary communication (most robust).

Static and dynamic properties of uncooled 3-section tunable DBR laser

We present for the first time a comprehensive study of the static and dynamic properties of a coolerless tunable three-section DBR laser. Wavelength tuning and thermal drift under uncooled conditions are investigated. Variance of modulation bandwidth with temperature rise and wavelength control is studied, and then verified by uncooled direct modulation performance with clear open eye diagrams. Satisfactory direct modulation is demonstrated at bit rate of up to 6Gbit/s, which is believed to be the fastest out of devices of similar structure so far.

Discovery of a new 2.3 s isomer in neutron-rich 174Tm

A new program of K-isomer research has been initiated with the 8π spectrometer sited at the ISAC facility of TRIUMF. We discuss in this paper the identification of a new 2.3 s isomer in 174Tm and its implications. © Società Italiana di Fisica / Springer-Verlag 2005.