The paper considers the detection of multiple targets by a group of mobile robots that perform under uncertainty. The agents are equipped with sensors with positive and non-negligible probabilities of detecting the targets at different distances. The goal is to define the trajectories of the agents that can lead to the detection of the targets in minimal time. The suggested solution follows the classical Koopman's approach applied to an occupancy grid, while the decision-making and control schemes are conducted based on information-theoretic criteria. Sensor fusion in each agent and over the agents is implemented using a general Bayesian scheme. The presented procedures follow the expected information gain approach utilizing the "center of view" and the "center of gravity" algorithms. These methods are compared with a simulated learning method. The activity of the procedures is analyzed using numerical simulations.
Download full-text PDF |
Source |
|---|---|
| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC7517003 | PMC |
| http://dx.doi.org/10.3390/e22050512 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Dysregulated tryptophan metabolism contributes to metabolic syndrome in Chinese community-dwelling older adults.
BMC Endocr Disord
January 2025
School of Public Health, Anhui Medical University, No. 81 Meishan Road, Hefei, Anhui, 230032, China.
Background: As the prevalence of metabolic syndrome (MetS) rises among older adults, the associated risks of cardiovascular diseases and diabetes significantly increase, and it is closely linked to various metabolic processes in the body. Dysregulation of tryptophan (TRP) metabolism, particularly alterations in the kynurenine (KYN) and serotonin pathways, has been linked to the onset of chronic inflammation, oxidative stress, and insulin resistance, key contributors to the development of MetS. We aim to investigate the relationship between the TRP metabolites and the risk of MetS in older adults.
View Article and Find Full Text PDFEvaluation of One Step Nucleic Acid Amplification for detection of lymph node metastases compared to histopathological ultrastaging in women with endometrial cancer: a protocol for a diagnostic accuracy study.
BMC Womens Health
January 2025
Department of Gynaecology and Obstetrics, University Hospital Pilsen, Charles University, Pilsen, Czech Republic.
Background: This is a multicentre, European, prospective trial evaluating the diagnostic accuracy of One Step Nucleic Acid Amplification (OSNA) compared to sentinel lymph nodes histopathological ultrastaging in endometrial cancer patients.
Methods: Centres with expertise in sentinel lymph node mapping in endometrial cancer patients in Europe will be invited to participate in the study. Participating units will be trained on the correct usage of the OSNA RD-210 analyser and nucleic acid amplification reagent kit LYNOAMP CK19 E for rapid detection of metastatic nodal involvement, based on the cytokeratin 19 (CK19) mRNA detection.
Insights into Treponema pallidum genomics from modern and ancient genomes using a novel mapping strategy.
BMC Biol
January 2025
Department of Environmental Sciences, University of Basel, Basel, Switzerland.
Background: Treponemal diseases are a significant global health risk, presenting challenges to public health and severe consequences to individuals if left untreated. Despite numerous genomic studies on Treponema pallidum and the known possible biases introduced by the choice of the reference genome used for mapping, few investigations have addressed how these biases affect phylogenetic and evolutionary analysis of these bacteria. In this study, we ascertain the importance of selecting an appropriate genomic reference on phylogenetic and evolutionary analyses of T.
View Article and Find Full Text PDFProfiling the epigenome using long-read sequencing.
Nat Genet
January 2025
Institute for Integrative Systems Biology, Spanish National Research Council, Paterna, Spain.
The advent of single-molecule, long-read sequencing (LRS) technologies by Oxford Nanopore Technologies and Pacific Biosciences has revolutionized genomics, transcriptomics and, more recently, epigenomics research. These technologies offer distinct advantages, including the direct detection of methylated DNA and simultaneous assessment of DNA sequences spanning multiple kilobases along with their modifications at the single-molecule level. This has enabled the development of new assays for analyzing chromatin states and made it possible to integrate data for DNA methylation, chromatin accessibility, transcription factor binding and histone modifications, thereby facilitating comprehensive epigenomic profiling.
View Article and Find Full Text PDFSnake-DETR: a lightweight and efficient model for fine-grained snake detection in complex natural environments.
Sci Rep
January 2025
School of Mathematics and Computer, Wuhan Polytechnic University, Wuhan, 430048, China.
The rapid changes in the global environment have led to an unprecedented decline in biodiversity, with over 28% of species facing extinction. This includes snakes, which are key to ecological balance. Detecting snakes is challenging due to their camouflage and elusive nature, causing data loss and feature extraction difficulties in ecological monitoring.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!