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Created with Raphaël 2.2.027Apr2625242322211918171615144331Mar2827262423212097615Feb141087125Jan201918171613121020Dec191698765230Nov2928252331Oct3030Nov19Oct23Sep8Dec29Oct228Sep6Aug27Jul242221171098718Jun1128May22212014865429Apr2827222014139743130Mar2728Feb8Dec6529Nov282625221928Oct2214417Sep14Aug25Jul1076123Jun16151413108764330May292221191413125423Apr2086422Mar21201814Feb131211109754330Jan1219Dec1817151211986529Oct127Sep261817161210987630Aug28276Jul29Jun2825248May75432130Apr27262524232019181716131092Mar22Feb10Jan8629Dec2827262218161054Added Sincronization for the setpoint updateAdded history before time step zeroSet fix graph topology for the dronesSincronous communication between CFsCan compute gaussian using Eigen LibraryAdded function to save the setpoints in csvAdded function to build the matrix containing the state trajectory of the CFAdded const and vars to handle saving of data collectionsAdded write_csv function and commented functions to delete at end of thesisAdded GD Optimization to the FES Thread successfullyAdded Gradient Descent compuattion to the FES threadModified MPC Constaints to match the table size and changed initial conditions for the quadcoptersFES thread worksFixed FES thread pipelineAdded Default trajectory to test the threadAdded variables to handle the secondary threadAdded thread for expensive FES compuationImplemented Lloyd Iteration SuccessfullyAdded reliable integrator controller for CF19Added implementation of the LLoyd Map and three densitiesFixed error in cutting planes and implemented integration inside voronoi regionChanged duration of the experiments for the follower CFsFixed error in cutting planes computationDeleted useless commentsIntegration works with GNU Scientific LibraryFixed code apperanceAdded GSLFixed error in numerical integrationFixed bug concerning cutting planes of Vornoi Region. Now numerical integration is workingAdded function to perform numerical integration, and started computation of the Lloid iterationImplemented multivariate density functionsStarted to add the Lloyd Map and the Integration of the DensityFixed mistake in MPC constraintsFixed error in known terms vector constructionAdded debugging and Utilities to the Vornoi Region functionUpdated debugAdded normals to separatorsReturns Vornoi neighbours and improved debuggingReliable computation of the Voronoi region inna distributed way (2D and 3D)Added example on how to use nplane() and fixed bugs