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.