Cooperative formation control of multiple aerial vehicles based on guidance route in a complex task environment

In recent years,formation control of multi-agent has been a significant research subject in the field of cooperative control.However,previous works have mainly concentrated on formation control for simple point-mass model and linear model.In contrast,this paper presents a novel cooperative algorithm for multiple air vehicles formation control,which aims to devise a control strategy based on guidance route to achieve precisely coordinated formation control for a group of fixed-wing aircraft in a complex task environment.The proposed method introduces the leader-follower structure for effective organization of the multi-agent coordination.Moreover,the Partial Integrated Formation and Control(PIFC)is adopted to design the control law for Guidance-Route based Formation Control(GRFC).Additionally,the proposed approach designs two guidance-route generation strategies for two special situations to demonstrate the effectiveness of GRFC in complex task environments.Theoretical analysis reveals that the proposed control protocol for guidance command can ensure the overall stability and tracking accuracy of the system.Numerical simulations are performed to illustrate the theoretical results,and verify that the proposed approach can achieve coordinated formation control precisely in a complex task environment.

Selective Enrichment of Low-Abundance DNA Variants Based on Programmable Peptide Nucleic Acid Probes

Single-nucleotide variants(SNVs)are crucial in disease development,but their accurate detection is challenging due to their low abundance and interference from wild-type targets.Although nucleic acid analogs like peptide nucleic acids(PNAs)have been used for SNV detection,they often lack programmable sensitivity and specificity due to poorly calculated thermodynamics and kinetics.Here,we present a computational method for calculating the stacking energy of PNA and DNA hybrids,leveraging nearest neighbor parameters.Validation against experimental data from 16 sequences under varied hybridization conditions yielded good agreement using Bland-Altman analysis,with all data points falling within the confidence interval.Our findings indicate that PNA-DNA hybridization is thermodynamically more stable and exhibits kinetics 140-fold faster than DNA-DNA hybridization for identical sequences.Utilizing this computational framework,we designed PNA toehold probes,which were screened via simulations and experiments.This combined approach facilitated the identification of highly sensitive and specific PNA toehold probes for single point mutation detection via strand displacement reaction.Our results demonstrate the successful application of PNA toehold probes for detecting point mutations with high sensitivity and specificity,achieving a selective amplification of approximately 200-fold for variants with a variant allele frequency(VAF)of 0.5%using quantitative polymerase chain reaction.