Makoto Saito | Searcharxiv

arXiv2022

Distributed Gaussian Process Based Cooperative Visual Pursuit Control for Drone Networks

In this paper, we propose a control law for camera-equipped drone networks to pursue a target rigid body with unknown motion based on distributed Gaussian process. First, we consider the situation where each drone has its own dataset, and learned the unknown target motion in a distributed manner. Second, we propose a control law using the distributed Gaussian processes, and show that the estimation and control errors are ultimately bounded. Furthermore, the effectiveness of the proposed method is verified by using simulations and experiments with actual drones.

eess.SY↗

arXiv2012

Atomic-scale characterization of nitrogen-doped graphite: Effects of dopant nitrogen on the local electronic structure of the surrounding carbon atoms

We report the local atomic and electronic structure of a nitrogen-doped graphite surface by scanning tunnelling microscopy, scanning tunnelling spectroscopy, X-ray photoelectron spectroscopy, and first-principles calculations. The nitrogen-doped graphite was prepared by nitrogen ion bombardment followed by thermal annealing. Two types of nitrogen species were identified at the atomic level: pyridinic-N (N bonded to two C nearest neighbours) and graphitic-N (N bonded to three C nearest neighbours). Distinct electronic states of localized π states were found to appear in the occupied and unoccupied regions near the Fermi level at the carbon atoms around pyridinic-N and graphitic-N species, respectively. The origin of these states is discussed based on the experimental results and theoretical simulations.

cond-mat.mtrl-sci↗