Annotations have been formally introduced into Java since Java 5. Since then, annotations have been widely used by the Java community for different purposes, such as compiler guidance and runtime processing. Despite the ever-growing use, there is still limited empirical knowledge about the actual usage of annotations in practice, the changes made to annotations during software evolution, and the potential impact of annotations on code quality. To fill this gap, we perform the first large-scale empirical study about Java annotations on 1,094 notable open-source projects hosted on GitHub. Our study systematically investigates annotation usage, annotation evolution, and annotation impact, and generates 10 novel and important findings. We also present the implications of our findings, which shed light for developers, researchers, tool builders, and language or library designers in order to improve all facets of Java annotation engineering.

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Robotic swarm systems are now becoming increasingly attractive for many challenging applications. The main task for any robot is to reach the destination while keeping a safe separation from other robots and obstacles. In many scenarios, robots need to move within a narrow corridor, through a window or a doorframe. In order to guide all robots to move in a cluttered environment, a curve virtual tube with no obstacle inside is carefully designed in this paper. There is no obstacle inside the tube, namely the area inside the tube can be seen as a safety zone. Then, a distributed swarm controller is proposed with three elaborate control terms: a line approaching term, a robot avoidance term and a tube keeping term. Formal analysis and proofs are made to show that the curve virtual tube passing problem can be solved in a finite time. For the convenience in practical use, a modified controller with an approximate control performance is put forward. Finally, the effectiveness of the proposed method is validated by numerical simulations and real experiments. To show the advantages of the proposed method, the comparison between our method and the control barrier function method is also presented in terms of calculation speed.

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