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  1. We present methods for autonomous collaborative surveying of volcanic CO 2 emissions using aerial robots. CO 2 is a useful predictor of volcanic eruptions and an influential greenhouse gas. However, current CO 2 mapping methods are hazardous and inefficient, as a result, only a small fraction of CO 2 emitting volcanoes have been surveyed. We develop algorithms and a platform to measure volcanic CO 2 emissions. The Dragonfly Unpiloted Aerial Vehicle (UAV) platform is capable of long-duration CO 2 collection flights in harsh environments. We implement two survey algorithms on teams of Dragonfly robots and demonstrate that they effectively map gas emissions and locate the highest gas concentrations. Our experiments culminate in a successful field test of collaborative rasterization and gradient descent algorithms in a challenging real-world environment at the edge of the Valles Caldera supervolcano. Both algorithms treat multiple flocking UAVs as a distributed flexible instrument. Simultaneous sensing in multiple UAVs gives scientists greater confidence in estimates of gas concentrations and the locations of sources of those emissions. These methods are also applicable to a range of other airborne concentration mapping tasks, such as pipeline leak detection and contaminant localization. 
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  2. In this paper, the cybersecurity of distributed secondary voltage control of AC microgrids is addressed. A resilient approach is proposed to mitigate the negative impacts of cyberthreats on the voltage and reactive power control of Distributed Energy Resources (DERs). The proposed secondary voltage control is inspired by the resilient flocking of a mobile robot team. This approach utilizes a virtual time-varying communication graph in which the quality of the communication links is virtualized and determined based on the synchronization behavior of DERs. The utilized control protocols on DERs ensure that the connectivity of the virtual communication graph is above a specific resilience threshold. Once the resilience threshold is satisfied the Weighted Mean Subsequence Reduced (WMSR) algorithm is applied to satisfy voltage restoration in the presence of malicious adversaries. A typical microgrid test system including 6 DERs is simulated to verify the validity of proposed resilient control approach. 
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