In this paper, cooperative control and optimal control methods are used for the formation control of mixed-order heterogeneous multi-agent systems. The system consists of unmanned aerial vehicles (UAVs), unmanned surface vehicles (USVs), and unmanned underwater vehicles (UUVs). The system is represented in a state space using a block Kronecker product. The static and dynamic formation control protocols are proposed respectivel...

Main conclusion The molecular mechanism underlying white petal color in Brassica napus was revealed by transcriptomic and metabolomic analyses. Abstract Rapeseed ( Brassica napus L.) is one of the most important oilseed crops worldwide, but the mechanisms underlying flower color in this crop are known less. Here, we performed metabolomic and transcriptomic analyses of the yellow-flowered rapeseed cultivar ‘Zhongshuang 11’ (ZS1...