Monte-Carlo Tree Search with Prioritized Node Expansion for Multi-Goal Task Planning

Symbolic task planning for robots is computationally challenging due to the combinatorial complexity of the possible action space. This fact is amplified if there are several sub-goals to be achieved due to the increased length of the action sequences. In this work, we propose a multi-goal symbolic task planner for deterministic decision processes based on Monte Carlo Tree Search. We augment the algorithm by prioritized node expansion which prioritizes nodes that already have fulfilled some sub-goals. Due to its linear complexity in the number of sub-goals, our algorithm is able to identify symbolic action sequences of 145 elements to reach the desired goal state with up to 48 sub-goals while the search tree is limited to under 6500 nodes. We use action reduction based on a kinematic reachability criterion to further ease computational complexity. We combine our algorithm with object localization and motion planning and apply it to a real-robot demonstration with two manipulators in an industrial bearing inspection setting

Green Infrastructure and the Sustainability Concept: A Case Study of the Greater New Orleans Urban Water Plan

Sustainability has been touted as an ideal in city and environmental planning in recent decades, evolving to include environmental, economic, and equity-focused goals. While much has been written about these ideals, it remains unclear how their inherent tensions and challenges affect planning practice. This thesis analyzes these goals as they are perceived and prioritized in The Greater New Orleans Urban Water Plan, a regional water management plan released by Waggonner and Ball Architects in September 2013, utilizing interviews with architects involved in the plan’s development, staff at agencies involved in green infrastructure implementation, and advocacy groups involved in and affected by the plan’s implementation. I argue for the creation of a planning infrastructure that would promote a broader view of the array of green infrastructure’s potential environmental, economic, and social benefits, as well as for an increased focus on equity in green infrastructure planning and implementation

Natural Resources Outreach Coalition: Coordination and Program Delivery, Stone, A

The Natural Resources Outreach Coalition (NROC) is a multi-organizational initiative providing technical and educational assistance to communities in New Hampshire’s coastal watersheds dealing with the effects of growth. The NROC program offered to communities includes an initial educational public presentation, Dealing with Growth, followed by a series of follow-up meetings to help the community focus their goals, develop an action-oriented work plan, and provide the technical and educational assistance needed to help the community meet its goals

Self-management support for chronic disease in primary care: frequency of patient self-management problems and patient reported priorities, and alignment with ultimate behavior goal selection.

BackgroundTo enable delivery of high quality patient-centered care, as well as to allow primary care health systems to allocate appropriate resources that align with patients' identified self-management problems (SM-Problems) and priorities (SM-Priorities), a practical, systematic method for assessing self-management needs and priorities is needed. In the current report, we present patient reported data generated from Connection to Health (CTH), to identify the frequency of patients' reported SM-Problems and SM-Priorities; and examine the degree of alignment between patient SM-Priorities and the ultimate Patient-Healthcare team member selected Behavioral Goal.MethodsCTH, an electronic self-management support system, was embedded into the flow of existing primary care visits in 25 primary care clinics and was used to assess patient-reported SM-Problems across 12 areas, patient identified SM-Priorities, and guide the selection of a Patient-Healthcare team member selected Behavioral Goal. SM-Problems included: BMI, diet (fruits and vegetables, salt, fat, sugar sweetened beverages), physical activity, missed medications, tobacco and alcohol use, health-related distress, general life stress, and depression symptoms. Descriptive analyses documented SM-Problems and SM-Priorities, and alignment between SM-Priorities and Goal Selection, followed by mixed models adjusting for clinic.Results446 participants with ≥ one chronic diseases (mean age 55.4 ± 12.6; 58.5% female) participated. On average, participants reported experiencing challenges in 7 out of the 12 SM-Problems areas; with the most frequent problems including: BMI, aspects of diet, and physical activity. Patient SM-Priorities were variable across the self-management areas. Patient- Healthcare team member Goal selection aligned well with patient SM-Priorities when patients prioritized weight loss or physical activity, but not in other self-management areas.ConclusionParticipants reported experiencing multiple SM-Problems. While patients show great variability in their SM-Priorities, the resulting action plan goals that patients create with their healthcare team member show a lack of diversity, with a disproportionate focus on weight loss and physical activity with missed opportunities for using goal setting to create targeted patient-centered plans focused in other SM-Priority areas. Aggregated results can assist with the identification of high frequency patient SM-Problems and SM-Priority areas, and in turn inform resource allocation to meet patient needs.Trial registrationClinicalTrials.gov ID: NCT01945918

A situational approach for the definition and tailoring of a data-driven software evolution method

Successful software evolution heavily depends on the selection of the right features to be included in the next release. Such selection is difficult, and companies often report bad experiences about user acceptance. To overcome this challenge, there is an increasing number of approaches that propose intensive use of data to drive evolution. This trend has motivated the SUPERSEDE method, which proposes the collection and analysis of user feedback and monitoring data as the baseline to elicit and prioritize requirements, which are then used to plan the next release. However, every company may be interested in tailoring this method depending on factors like project size, scope, etc. In order to provide a systematic approach, we propose the use of Situational Method Engineering to describe SUPERSEDE and guide its tailoring to a particular context.Peer ReviewedPostprint (author's final draft

Game theoretic controller synthesis for multi-robot motion planning Part I : Trajectory based algorithms

We consider a class of multi-robot motion planning problems where each robot is associated with multiple objectives and decoupled task specifications. The problems are formulated as an open-loop non-cooperative differential game. A distributed anytime algorithm is proposed to compute a Nash equilibrium of the game. The following properties are proven: (i) the algorithm asymptotically converges to the set of Nash equilibrium; (ii) for scalar cost functionals, the price of stability equals one; (iii) for the worst case, the computational complexity and communication cost are linear in the robot number

Mexican American Adolescents’ Conversations About Goals: The Centrality of Financial Aspiration to Career and Educational Pursuit

We explored Mexican American adolescents’ goals as discussed with a romantic relationship partner. Thirty-four Mexican American hetero-dating couples aged 15 to 17 (M = 11.71 months dating) from an urban city in a Southwest border state participated in a video-taped discussion. Drawing on Social Cognitive Career Theory, we inductively coded for themes and found that youth prioritized career, education, family planning, travel, and relationship goals. We were sensitized to the centrality of financial aspiration to each of these themes, and further operationalized youth’s level of financial aspiration as either modest, ambivalent, or high. Applying this template, we analyzed the extent of fit of adolescents’ goals to their financial aspiration. Adolescents with modest financial aspiration evidenced clearer paths to goal-success compared to adolescents with high financial aspiration. Although adolescents with higher financial aspiration described parallel career choices, adolescents with more modest financial goals were more apt to describe clear steps to attaining their careers and additional pursuits. We recommend programing that provides the opportunity for adolescents to connect their financial aspiration to their preferred careers and lifestyle goals. Such programs should also include relationship and family-planning, as these are important to diverse youths and influence post-secondary education and career pursuit