By Manuel Béjar, Anibal Ollero, Federico Cuesta (auth.), Claudio Bonivento, Lorenzo Marconi, Carlo Rossi, Alberto Isidori (eds.)

This quantity is the result of the 1st CASY workshop on "Advances up to speed concept and functions" which used to be held at college of Bologna on may well 22-26, 2006. It comprises chosen contributions via a number of the invited audio system and includes fresh leads to control.

The quantity is meant for engineers, researchers, and scholars on top of things engineering.

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**Example text**

We impose the initial ˆj (t) satisﬁes condition ξj (0) = 0. One can verify immediately that the estimate x the following recursive relation x ˆj (t + 1) = x ˆj (t) + qL (xj (t + 1) − xˆj (t)) . (10) Eﬃcient Quantization in the Average Consensus Problem 37 Notice that ξj (0) = 0 implies x ˆj (0) = qL (xj (0)). Now if we deﬁne εj (t) = ˆj (t)) − (xj (t + 1) − x ˆj (t)) qL (xj (t + 1) − x xj (t + 1) − x ˆj (t) we obtain that xˆj (t + 1) = x ˆj (t) + (1 + εj (t))(xj (t + 1) − x ˆj (t)). (11) where −δ ≤ εj (t) ≤ +δ.

Suppose that the j-th agent sends to the i-th agent, through a digital channel, at each time instant t, a symbol sij (t) belonging to a ﬁnite or denumerable alphabet Sij . It is assumed that each symbol transmitted is received without error. In general, see [21], the structure of the coder by which the j-th agent produces the symbol to be sent to the i-th agent can be described by the following equations ξij (t + 1) = Fij (ξij (t), sij (t)) sij (t) = Qij (ξij (t), xj (t), uj (t)) (6) where sij (t) ∈ Sij , ξij (t) ∈ Ξij , Qij : Ξij ×R×R → Sij , and Fij : Ξ ×Sij → Ξij and where also the set Ξij is ﬁnite or denumerable.

Ollero, and F. Cuesta This is complex goal, which implies a continuous feedback of ship position and pose. To this end, elaborated position estimation techniques are required. On the other hand, it is also necessary the design of control algorithms that deal with the tracking of the complex trajectories imposed by ship movements and that lead to smooth landing. For this second point, works previously shown on vertical motion can also help in the understanding of the inherent nonlinear problem. In [35] it is presented a multiple view algorithm that could be used for vision based landing of an unmanned aerial vehicle.