arXiv subjects

David Mateo

Publications and source records attributed to David Mateo.

11 recordsLinked to original sources

arXiv2023

Urban Dynamics Through the Lens of Human Mobility

The urban spatial structure represents the distribution of public and private spaces in cities and how people move within them. While it usually evolves slowly, it can change fast during large-scale emergency events, as well as due to urban renewal in rapidly developing countries. This work presents an approach to delineate such urban dynamics in quasi-real-time through a human mobility metric, the mobility centrality index $\Delta KS$. As a case study, we tracked the urban dynamics of eleven Spanish cities during the COVID-19 pandemic. Results revealed that their structures became more monocentric during the lockdown in the first wave, but kept their regular spatial structures during the second wave. To provide a more comprehensive understanding of mobility from home, we also introduce a dimensionless metric, $KS_{HBT}$, which measures the extent of home-based travel and provides statistical insights into the transmission of COVID-19. By utilizing individual mobility data, our metrics enable the detection of changes in the urban spatial structure.

physics.soc-ph↗

arXiv2019

Decentralized Multi-Floor Exploration by a Swarm of Miniature Robots Teaming with Wall-Climbing Units

In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a wheeled ground unit-is at the core of a swarm of floor-mapping robots exhibiting scalability, robustness and flexibility. These properties are systematically tested and quantitatively evaluated in unstructured and dynamic environments, in the absence of any supporting infrastructure. The results of repeated sets of experiments show a consistent performance for all three features, as well as the possibility to inject units into the system while it is operating. Several units of the second variant-a wheg-based wall-climbing unit-are used to support the swarm of mapping robots when simultaneously exploring multiple floors by expanding the distributed communication channel necessary for the coordinated behavior among platforms. Although the occupancy-grid maps obtained can be large, they are fully distributed. Not a single robotic unit possesses the overall map, which is not required by our cooperative path-planning strategy.

cs.RO↗

arXiv2018

A Decentralized Mobile Computing Network for Multi-Robot Systems Operations

Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique source of inspiration for the development of fault-tolerant and self-healing multi-robot systems capable of operating in dynamic environments. Specifically, swarm robotics emerged and is significantly growing on these premises. However, to date, most swarm robotics systems reported in the literature involve basic computational tasks---averages and other algebraic operations. In this paper, we introduce a novel Collective computing framework based on the swarming paradigm, which exhibits the key innate features of swarms: robustness, scalability and flexibility. Unlike Edge computing, the proposed Collective computing framework is truly decentralized and does not require user intervention or additional servers to sustain its operations. This Collective computing framework is applied to the complex task of collective mapping, in which multiple robots aim at cooperatively map a large area. Our results confirm the effectiveness of the cooperative strategy, its robustness to the loss of multiple units, as well as its scalability. Furthermore, the topology of the interconnecting network is found to greatly influence the performance of the collective action.

cs.RO↗

arXiv2018

Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring

Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key challenge in swarm robotics design is the efficient collective operation of heterogeneous systems. We present both theoretical analysis and field experiments on the responsiveness in dynamic area coverage of a collective of 22 autonomous buoys, where 4 units are upgraded to a new design that allows them to move 80\% faster than the rest. This system is able to react on timescales of the minute to changes in areas on the order of a few thousand square meters. We have observed that this partial upgrade of the system significantly increases its average responsiveness, without necessarily improving the spatial uniformity of the deployment. These experiments show that the autonomous buoy designs and the cooperative control rule described in this work provide an efficient, flexible, and scalable solution for the pervasive and persistent monitoring of water environments.

cs.RO↗

arXiv2018

Optimal Network Topology for Effective Collective Response

Natural, social, and artificial multi-agent systems usually operate in dynamic environments, where the ability to respond to changing circumstances is a crucial feature. An effective collective response requires suitable information transfer among agents, and thus is critically dependent on the agents' interaction network. In order to investigate the influence of the network topology on collective response, we consider an archetypal model of distributed decision-making---the leader-follower linear consensus---and study the collective capacity of the system to follow a dynamic driving signal (the "leader") for a range of topologies and system sizes. The analysis reveals a nontrivial relationship between optimal topology and frequency of the driving signal. Interestingly, the response is optimal when each individual interacts with a certain number of agents which decreases monotonically with the frequency and, for large enough systems, is independent of the size of the system. This phenomenology is investigated in experiments of collective motion using a swarm of land robots. The emergent collective response to both a slow- and a fast-changing leader is measured and analyzed for a range of interaction topologies. These results have far-reaching practical implications for the design and understanding of distributed systems, since they highlight that a dynamic rewiring of the interaction network is paramount to the effective collective operations of multi-agent systems at different time-scales.

eess.SY↗

arXiv2017

Density Functional Theory of doped superfluid liquid helium and nanodroplets

During the last decade, density function theory (DFT) in its static and dynamic time dependent forms, has emerged as a powerful tool to describe the structure and dynamics of doped liquid helium and droplets. In this review, we summarize the activity carried out in this field within the DFT framework since the publication of the previous review article on this subject [M. Barranco et al., J. Low Temp. Phys. 142, 1 (2006)]. Furthermore, a comprehensive presentation of the actual implementations of helium DFT is given, which have not been discussed in the individual articles or are scattered in the existing literature. This is an Accepted Manuscript of an article published on August 2, 2017 by Taylor & Francis Group in Int. Rev. Phys. Chem. 36, 621 (2017), available online: http://dx.doi.org/10.1080/0144235X.2017.1351672

physics.chem-ph↗

arXiv2017

Swarm-Enabling Technology for Multi-Robot Systems

Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming considerations at the front and center. Key hardware and software elements required for swarming are often deeply embedded and integrated with the particular system. However, given the noticeable increase in the number of low-cost mobile robots readily available, practitioners and hobbyists may start considering to assemble full-fledged swarms by minimally retrofitting such mobile platforms with a swarm-enabling technology. Here, we report one possible embodiment of such a technology designed to enable the assembly and the study of swarming in a range of general-purpose robotic systems. This is achieved by combining a modular and transferable software toolbox with a hardware suite composed of a collection of low-cost and off-the-shelf components. The developed technology can be ported to a relatively vast range of robotic platforms with minimal changes and high levels of scalability. This swarm-enabling technology has successfully been implemented on two distinct distributed multi-robot systems, a swarm of mobile marine buoys and a team of commercial terrestrial robots. We have tested the effectiveness of both of these distributed robotic systems in performing collective exploration and search scenarios, as well as other classical cooperative behaviors. Experimental results on different swarm behaviors are reported for the two platforms in uncontrolled environments and without any supporting infrastructure. The design of the associated software library allows for a seamless switch to other cooperative behaviors, and also offers the possibility to simulate newly designed collective behaviors prior to their implementation onto the platforms.

cs.RO↗

arXiv2016

Excess of Social Behavior Reduces the Capacity to Respond to Perturbations

Social interaction increases significantly the performance of a wide range of cooperative systems. However, evidence that natural swarms limit the number of social connections suggests potentially detrimental consequences of excessive social activity. Using a canonical model of collective motion, we find that the responsiveness of a swarm to local perturbations is reduced when the social interaction exceeds a certain threshold. We uncover a similar effect for two distinct collective decision-making models of distributed consensus operating over a range of static networks. While increasing the amount of interaction always increases the capacity of these systems to adapt to slow changes, an excess of social behavior can hinder the swiftness of their response to fast perturbations. These results have far-reaching implications for the design of artificial swarms or interaction networks.

nlin.AO↗

arXiv2014

Solvation of Intrinsic Positive Charge in Superfluid Helium

Based on electronic structure calculations, the structure of intrinsic positive charge solvated in superfluid helium is identified as triatomic He3^+ ion, which is bound to the surrounding ground state helium atoms through the charge - charge induced dipole interaction in a pairwise additive manner. Bosonic density functional theory calculations show that this ion forms the well-known Atkins' snowball solvation structure where the first rigid helium shell is effectively disconnected from the rest of the liquid. Evaluation of the total energy vs. helium droplet size N shows distinct regions related to the completion of solvent shells near N=16 and N=47. These regions can be assigned to magic numbers observed in positively charged helium droplets appearing at N=15 and in the range between 20-50 helium atoms. The calculated added mass for the positive ion in bulk superfluid helium (18 m_He) is much smaller than the previous experiments suggest (30-40 m_He) indicating that there may be yet some unidentified additional factor contributing to the measured effective mass. Both previous experiments and the present calculations agree on the effective mass of the negative charge (240-250 m_He). The main difference between the solvated negative and positive charges in liquid helium is that the latter forms a chemically bound triatomic molecule surrounded by highly inhomogeneous liquid structure whereas the former remains as a separated charge with a smoothly varying liquid density around it.

cond-mat.other↗

arXiv2010

Excited electron-bubble states in superfluid helium-4: a time-dependent density functional approach

We present a systematic study on the excited electron-bubble states in superfluid helium-4 using a time-dependent density functional approach. For the evolution of the 1P bubble state, two different functionals accompanied with two different time-development schemes are used, namely an accurate finite-range functional for helium with an adiabatic approximation for electron versus an efficient zero-range functional for helium with a real-time evolution for electron. We make a detailed comparison between the quantitative results obtained from the two methods, which allows us to employ with confidence the optimal method for suitable problems. Based on this knowledge, we use the finite-range functional to calculate the time-resolved absorption spectrum of the 1P bubble, which in principle can be experimentally determined, and we use the zero-range functional to real-time evolve the 2P bubble for several hundreds of picoseconds, which is theoretically interesting due to the break down of adiabaticity for this state. Our results discard the physical realization of relaxed, metastable 2P electron-bubbles

cond-mat.other↗

arXiv2010

Evolution of the excited electron bubble in liquid 4He and the appearance of fission-like processes

We have studied the evolution of an excited electron bubble in superfluid 4He for several tens of picoseconds combining the dynamics of the liquid with an adiabatic evolution for the electron. The path followed by the excited bubble in its decay to the ground state is shown to strongly depend on pressure. While for pressures below 1 bar the 1P excited electron bubble has allowance for radiatively decay to the deformed ground state, evolving then non-radiatively towards the ground state of the spherical electron bubble, we have found that above 1 bar two distinct baby bubbles appear in the course of the dynamical evolution, pointing to a different relaxation path in which the electron may be localized in one of the baby bubbles while the other collapses, allowing for a pure radiationless de-excitation. Our calculations are in agreement with experiments indicating that relaxed 1P bubbles are only observed for pressures smaller than a critical one, of the order of 1 bar, and that above this value the decay of the excited bubble has to proceed differently. A similar analysis carried out for the 2P bubble shows that the adiabatic approximation fails at an early stage of its dynamical evolution due to the crossing of the 2P and 1F states.

cond-mat.other↗