Experimental results for the global/local sensor fusion algorithm using numerical P systems and ROS

This record presents experimental data that was recorded from ROS and processed using the statistical language R. The objective of the experiment was for a nano-quadcopter to detect the height of a previously unknown waypoint (Apriltag) and afterwards maintain a height as close as possible to that tag. Due to the lag of the fiducial tag detection algorithm, this algorithm uses the tag detection only at the beginning, for determining a waypoint and afterwards uses the local height sensor available onboard the quadcopter. The PDF files all contain plots that are produced by the attached R script (stats.r) by processing the three CSV files included in this record.

本数据集收录了从机器人操作系统（ROS, Robot Operating System）采集、并通过统计编程语言R处理得到的实验数据。本实验的目标为：使微型四旋翼飞行器探测未知航点（Apriltag）的高度，并在后续飞行过程中保持飞行高度尽可能贴近该标签所在高度。由于基准标签识别算法存在延迟，该算法仅在初始阶段通过Apriltag识别确定航点高度，后续则借助四旋翼机载本地高度传感器维持飞行高度。本数据集附带的全部PDF文件均为通过配套R脚本（stats.r）处理本记录包含的3个CSV文件后生成的可视化绘图结果。