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The algorithm to adapt the path runs in the UAV and its input is the feedback obtained from the wireless sensor network (WSN) deployed in the crop field.
Reasons for doing so are to reduce the thickness error caused by a not sufficiently precise design of the given path, to adapt the path to a changed spray gun or spray technology, to adapt the path to slight incremental changes of the workpiece geometry, or to smooth the path in order to improve its execution by the robot.
A related approach is to distinguish between LOS and non-line of sight (NLOS) conditions and to adapt the path loss model accordingly.
where σ 0 is the white Gaussian noise power of the receiver; κ represents a parameter to adapt the path loss model; d m denotes the distance between user m and the BS; ψ∈[ 2,4] is the path loss exponent, and r min specifies the minimum transmission rate to meet the QoS requirement of users.
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An extension of the approach to an online real-time scheme that modifies and adapts the path as well as velocities to changes in the environment such that both safety and execution time are not compromised is also presented for the holonomic case.
They can implicitly be incorporated by distinguishing between LOS and NLOS conditions (cf. Section 2.3.1) and adapting the path loss exponent accordingly [68].
Applying the symbiotic network planner and adapting the path loss model with this fixed offset of −3.9 dB results in a prediction improvement of 1.9 dB, with an average absolute error |δ| of 4.9 dB in the second run.
This was made using a high-resolution (0.005 cm−1) Fourier transform spectrometer together with a specially designed cell that enables one to adapt the optical path from a few μm up to several mm.
For this, we use the same extension procedure as the head/tail correction, and adapt the graph path edge accordingly.
In that case, the approach succeeded by focusing on the problem of establishing an all-water trade route to the Pacific and iterating by adapting the explorers' path along the way.
"You have to have an open mind, adapt to the path that opens up in front of you," he declared.
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com