Traffic control for a swarm of robots:avoiding target congestion

One of the main problems in the navigation of robotic swarms is when several robots try to reach the same target at the same time, causing congestion situations that may compromise performance. In this paper, we propose a distributed coordination algorithm to alleviate this type of congestion. Using local sensing and communication, and controlling their actions using a probabilistic finite state machine, robots are able to coordinate themselves to avoid these situations. Simulations and real experiments were executed to study the performance and effectiveness of the proposed algorithm. Results show that the algorithm allows the swarm to have a more efficient and smoother navigation and is suitable for large groups of robots

Traffic control for a swarm of robots:avoiding group conflicts

A very common problem in the navigation of robotic swarms is when groups of robots move into opposite directions, causing congestion situations that may compromise performance. In this paper, we propose a distributed coordination algorithm to alleviate this type of congestion. By working collaboratively, and warning their teammates about a congestion risk, robots are able to coordinate themselves to avoid these situations. We executed simulations and real experiments to study the performance and effectiveness of the proposed algorithm. Results show that the algorithm allows the swarm to navigate in a smoother and more efficient fashion, and is suitable for large groups of robots

No robot left behind:coordination to overcome local minima in swarm navigation

In this paper, we address navigation and coordination methods that allow swarms of robots to converge and spread along complex 2D shapes in environments containing unknown obstacles. Shapes are modeled using implicit functions and a gradient descent approach is used for controlling the swarm. To overcome local minima, that may appear in these scenarios, we use a coordination mechanism that reallocates some robots as “rescuers” and sends them to help other robots that may be trapped. Simulations and real experiments demonstrate the feasibility of the proposed approach

Controlling Swarms of Robots Using Interpolated Implicit Functions

We address the synthesis of controllers for large groups of robots and sensors, tackling the specific problem of controlling a swarm of robots to generate patterns specified by implicit functions of the form s(x, y) = 0. We derive decentralized controllers that allow the robots to converge to a given curve S and spread along this curve. We consider implicit functions that are weighted sums of radial basis functions created by interpolating from a set of constraint points, which give us a high degree of control over the desired 2D curves. We describe the generation of simple plans for swarms of robots using these functions and illustrate

Saúde do idoso

O módulo Saúde do Idoso contém textos complementares cuidadosamente selecionados para permitir que o profissional de saúde aprofunde seus conhecimentos, na medida em que os problemas forem surgindo. Descreve as principais características da transição demográfica brasileira, seus determinantes e consequências, e discuti as características da transição epidemiológica, suas peculiaridades no Brasil e sua relação com o envelhecimento da população. Os fóruns deste módulo abordam temas inquietantes da Saúde do Idoso e têm como objetivo abrir o espaço para a discussão e troca de experiências entre alunos e tutores.Banco Nacional de Desenvolvimento Econômico e Social - BNDE

Health of the Brazilian elderly population on the eve of the 21st century: current problems, forecasts and alternatives

Current characteristics and perspectives of Brazilian demographic and epidemiological transition processes are analyzed. Results from the 1991, 1993, 1995 and 1996 censuses, new population projections and recent studies on socioeconomic and health profiles of elderly people of S. Paulo, Rio de Janeiro and Belo Horizonte are discussed. In 1995, estimated life expectancy at birth in Brazil was already over 67 years. The number of individuals aged 60 years and older - in 1995, 8.3%, of the total population - is expected to duplicate and probably stabilize by the year 2050. Yet lacking coverage and quality, health services are already burdened with degenerative diseases and mental disorders, frequent out-patient appointments, high hospital bed occupation and high costs. Functional impairment and self-reported diseases are related to poverty among the elderly, for whom social and health support are not properly provided. Support from informal caregivers becomes more difficult due to impoverishment, family size reduction and youth migration. Institutionalization remains a poor approach as scarcity of beds and inadequacy of staff preclude its utilization. To minimize the impact of population aging on health services, it is proposed that effective programs covering the control of degenerative diseases and the prevention of their complications should be implemente - for the elderly population too. The importance of physical exercise, screening for neoplastic diseases, immunization, prevention of fractures caused by falls and early diagnosis of depression and dementia is emphasized. Actions must be coordinated by primary health care units, oriented towards local needs. It is essential to maintain the elderly in adequate, productive activities, invest in young people's education and health and in social and medical support programs for the caregivers.São analizadas as características atuais e as perspectivas dos processos de transição demográfica e epidemiológica no Brasil. Foram utilizados os resultados do censo demográfico de 1991 e 1996 e Pesquisa Nacional por Amostra de Domicílios (PNAD) de 1993 e 1995, de novas projeções populacionais, e de recentes estudos sobre o perfil socioeconômico e de saúde de idosos de três grandes capitais brasileiras. Embora se estime que a proporção de idosos deverá duplicar até 2050, alcançando 15% do total da população, doenças crônico-degenerativas e distúrbios mentais já têm determinado, atualmente, maciça utilização dos serviços de saúde. O desenvolvimento de doenças, incapacidades e dependência têm sido mais freqüentes dentre aqueles de baixa renda que, no entanto, não têm conseguido garantir a assistência social e de saúde que demandam. Ações preventivas devem ser coordenadas por unidades básicas de saúde, priorizando necessidades locais. É imprescindível o investimento imediato na saúde, educação e formação técnica dos jovens, nos programas de apoio aos familiares e na manutenção de idosos em atividades produtivas adequadas