Cooperative localization for mobile agents: a recursive decentralized algorithm based on Kalman filter decoupling

We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these algorithms maintain an account of intrinsic correlations between state estimate of team members. Then, we present a novel decentralized cooperative localization algorithm that is a decentralized implementation of a centralized Extended Kalman Filter for cooperative localization. In this algorithm, instead of propagating cross-covariance terms, each agent propagates new intermediate local variables that can be used in an update stage to create the required propagated cross-covariance terms. Whenever there is a relative measurement in the network, the algorithm declares the agent making this measurement as the interim master. By acquiring information from the interim landmark, the agent the relative measurement is taken from, the interim master can calculate and broadcast a set of intermediate variables which each robot can then use to update its estimates to match that of a centralized Extended Kalman Filter for cooperative localization. Once an update is done, no further communication is needed until the next relative measurement

Effect of angiotensin-converting enzyme inhibitor and angiotensin receptor blocker initiation on organ support-free days in patients hospitalized with COVID-19

IMPORTANCE Overactivation of the renin-angiotensin system (RAS) may contribute to poor clinical outcomes in patients with COVID-19. Objective To determine whether angiotensin-converting enzyme (ACE) inhibitor or angiotensin receptor blocker (ARB) initiation improves outcomes in patients hospitalized for COVID-19. DESIGN, SETTING, AND PARTICIPANTS In an ongoing, adaptive platform randomized clinical trial, 721 critically ill and 58 non–critically ill hospitalized adults were randomized to receive an RAS inhibitor or control between March 16, 2021, and February 25, 2022, at 69 sites in 7 countries (final follow-up on June 1, 2022). INTERVENTIONS Patients were randomized to receive open-label initiation of an ACE inhibitor (n = 257), ARB (n = 248), ARB in combination with DMX-200 (a chemokine receptor-2 inhibitor; n = 10), or no RAS inhibitor (control; n = 264) for up to 10 days. MAIN OUTCOMES AND MEASURES The primary outcome was organ support–free days, a composite of hospital survival and days alive without cardiovascular or respiratory organ support through 21 days. The primary analysis was a bayesian cumulative logistic model. Odds ratios (ORs) greater than 1 represent improved outcomes. RESULTS On February 25, 2022, enrollment was discontinued due to safety concerns. Among 679 critically ill patients with available primary outcome data, the median age was 56 years and 239 participants (35.2%) were women. Median (IQR) organ support–free days among critically ill patients was 10 (–1 to 16) in the ACE inhibitor group (n = 231), 8 (–1 to 17) in the ARB group (n = 217), and 12 (0 to 17) in the control group (n = 231) (median adjusted odds ratios of 0.77 [95% bayesian credible interval, 0.58-1.06] for improvement for ACE inhibitor and 0.76 [95% credible interval, 0.56-1.05] for ARB compared with control). The posterior probabilities that ACE inhibitors and ARBs worsened organ support–free days compared with control were 94.9% and 95.4%, respectively. Hospital survival occurred in 166 of 231 critically ill participants (71.9%) in the ACE inhibitor group, 152 of 217 (70.0%) in the ARB group, and 182 of 231 (78.8%) in the control group (posterior probabilities that ACE inhibitor and ARB worsened hospital survival compared with control were 95.3% and 98.1%, respectively). CONCLUSIONS AND RELEVANCE In this trial, among critically ill adults with COVID-19, initiation of an ACE inhibitor or ARB did not improve, and likely worsened, clinical outcomes. TRIAL REGISTRATION ClinicalTrials.gov Identifier: NCT0273570

Cooperative Localization for Mobile Agents A RECURSIVE DECENTRALIZED ALGORITHM BASED ON KALMAN-FILTER DECOUPLING

We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these algorithms maintain an account of intrinsic correlations between state estimate of team members. Then, we present a novel decentralized cooperative localization algorithm that is a decentralized implementation of a centralized Extended Kalman Filter for cooperative localization. In this algorithm, instead of propagating cross-covariance terms, each agent propagates new intermediate local variables that can be used in an update stage to create the required propagated cross-covariance terms. Whenever there is a relative measurement in the network, the algorithm declares the agent making this measurement as the interim master. By acquiring information from the interim landmark, the agent the relative measurement is taken from, the interim master can calculate and broadcast a set of intermediate variables which each robot can then use to update its estimates to match that of a centralized Extended Kalman Filter for cooperative localization. Once an update is done, no further communication is needed until the next relative measurement

Telecouplings in the East–West Economic Corridor within Borders and Across

In recent years, the concepts of teleconnections and telecoupling have been introduced into land-use and land-cover change literature as frameworks that seek to explain connections between areas that are not in close physical proximity to each other. The conceptual frameworks of teleconnections and telecoupling seek to explicitly link land changes in one place, or in a number of places, to distant, usually non-physically connected locations. These conceptual frameworks are offered as new ways of understanding land changes; rather than viewing land-use and land-cover change through discrete land classifications that have been based on the idea of land-use as seen through rural–urban dichotomies, path dependencies and sequential land transitions, and place-based relationships. Focusing on the land-use and land-cover changes taking place along the East–West Economic Corridor that runs from Dong Ha City in Quang Tri, Vietnam, through Sepon District, Savannakhet, Lao PDR, into Thailand this paper makes use of data gathered from fieldwork and remote sensing analysis to examine telecouplings between sending, receiving and spill-over systems on both sides of the Vietnam-Lao PDR border. Findings are that the telecouplings are driving changes in rural village and urban systems on both sides of the border, and are enabled by a policy environment that has sought to facilitate the cross-border transportation of goods within the region

75 years After Likert: Thurstone was Right (Focal Article)

For over three-quarters of a century researchers and practitioners have analyzed rating scale data using methods that assume a dominance response process wherein an individual high on the trait assessed is assumed to answer positively with high probability. This approach derives from Likert\u27s famous 1932 approach to the development and analysis of rating scales. In this paper, we argue that Likert scaling and related methods are misguided. Instead, we propose that methods that have evolved from Thurstone (1927, 1928, 1929) scaling provide a better representation of the choice process underlying rating scale judgments. These methods hypothesize an ideal point response process where the probability of endorsement is assumed to be directly related to the proximity of the statement to the individual\u27s standing on the assessed trait. We review some research showing the superiority of ideal point methods for personality assessment and then describe several settings in which ideal point methods should provide tangible improvements over traditional approaches to assessment