183 research outputs found

    Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree

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    Combined Target-Assignment and Path-Finding problem (TAPF) requires simultaneously assigning targets to agents and planning collision-free paths for agents from their start locations to their assigned targets. As a leading approach to address TAPF, Conflict-Based Search with Target Assignment (CBS-TA) leverages both K-best target assignments to create multiple search trees and Conflict-Based Search (CBS) to resolve collisions in each search tree. While being able to find an optimal solution, CBS-TA suffers from scalability due to the duplicated collision resolution in multiple trees and the expensive computation of K-best assignments. We therefore develop Incremental Target Assignment CBS (ITA-CBS) to bypass these two computational bottlenecks. ITA-CBS generates only a single search tree and avoids computing K-best assignments by incrementally computing new 1-best assignments during the search. We show that, in theory, ITA-CBS is guaranteed to find an optimal solution and, in practice, is computationally efficient

    Error Analysis for the Implicit Boundary Integral Method

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    The implicit boundary integral method (IBIM) provides a framework to construct quadrature rules on regular lattices for integrals over irregular domain boundaries. This work provides a systematic error analysis for IBIMs on uniform Cartesian grids for boundaries with different degree of regularities. We first show that the quadrature error gains an addition order of d−12\frac{d-1}{2} from the curvature for a strongly convex smooth boundary due to the ``randomness'' in the signed distances. This gain is discounted for degenerated convex surfaces. We then extend the error estimate to general boundaries under some special circumstances, including how quadrature error depends on the boundary's local geometry relative to the underlying grid. Bounds on the variance of the quadrature error under random shifts and rotations of the lattices are also derived

    Health risk appraisal of urban thermal environment and characteristic analysis on vulnerable populations

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    Continuous global warming and frequent extreme high temperatures keep the urban climate health risk increasing, seriously threatening residents’ emotional health. Therefore, analysis on spatial distribution of the health risk that the urban heat island (UHI) effect imposes on emotional health as well as basic research on the characteristics of vulnerable populations need to be conducted. This study, with Tianjin city as the case, analyzed data from Landsat remote-sensing images, meteorological stations, and digital maps, explored the influence of summer UHI effect on distress (a typical negative emotion factor) and its spatiotemporal evolution, and conducted difference analysis on the age groups, genders, family state, and distress levels of vulnerable populations. The results show: (1) During the period of 1992–2020, the level and area of UHI influence on residents’ distress drastically increased–influence level elevated from level 2–4 to level 4–7, and highlevel influence areas were concentrated in six districts of central Tianjin. (2) Influence of the UHI effect on distress varied in different age groups–generally dropping with fluctuations as residents got older, especially residents aged 50–59. (3) Men experienced a W-shaped pattern in distress and were more irritable and unsteady emotionally; while women were more sensitive to distress in the beginning, but they became more placid as temperature got higher. (4) Studies on family status show that couples living together showed sound heat resistance in the face of heat stress, while middle-aged and elderly people living alone or with children were relatively weak in adjusting to high ambient temperature
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