A Study on Multirobot Quantile Estimation in Natural Environments

Quantiles of a natural phenomena can provide scientists with an important understanding of different spreads of concentrations. When there are several available robots, it may be advantageous to pool resources in a collaborative way to improve performance. A multirobot team can be difficult to practically bring together and coordinate. To this end, we present a study across several axes of the impact of using multiple robots to estimate quantiles of a distribution of interest using an informative path planning formulation. We measure quantile estimation accuracy with increasing team size to understand what benefits result from a multirobot approach in a drone exploration task of analyzing the algae concentration in lakes. We additionally perform an analysis on several parameters, including the spread of robot initial positions, the planning budget, and inter-robot communication, and find that while using more robots generally results in lower estimation error, this benefit is achieved under certain conditions. We present our findings in the context of real field robotic applications and discuss the implications of the results and interesting directions for future work.Comment: 7 pages, 2 tables, 7 figure

Reducing Network Load via Message Utility Estimation for Decentralized Multirobot Teams

We are motivated by quantile estimation of algae concentration in lakes. We find that multirobot teams improve performance in this task over single robots, and communication-enabled teams further over communication-deprived teams; however, real robots are resource-constrained, and communication networks cannot support arbitrary message loads, making na\"ive, constant information-sharing but also complex modeling and decision-making infeasible. With this in mind, we propose online, locally computable metrics for determining the utility of transmitting a given message to the other team members and a decision-theoretic approach that chooses to transmit only the most useful messages, using a decentralized and independent framework for maintaining beliefs of other teammates. We validate our approach in simulation on a real-world aquatic dataset, and show that restricting communication via a utility estimation method based on the expected impact of a message on future teammate behavior results in a 44% decrease in network load while increasing quantile estimation error by only 2.16%.Comment: 4 pages, 1 table, 3 figure

Present and Future of SLAM in Extreme Underground Environments

This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT competition. In particular, the paper has four main goals. First, we review the algorithms, architectures, and systems adopted by the teams; particular emphasis is put on lidar-centric SLAM solutions (the go-to approach for virtually all teams in the competition), heterogeneous multi-robot operation (including both aerial and ground robots), and real-world underground operation (from the presence of obscurants to the need to handle tight computational constraints). We do not shy away from discussing the dirty details behind the different SubT SLAM systems, which are often omitted from technical papers. Second, we discuss the maturity of the field by highlighting what is possible with the current SLAM systems and what we believe is within reach with some good systems engineering. Third, we outline what we believe are fundamental open problems, that are likely to require further research to break through. Finally, we provide a list of open-source SLAM implementations and datasets that have been produced during the SubT challenge and related efforts, and constitute a useful resource for researchers and practitioners.Comment: 21 pages including references. This survey paper is submitted to IEEE Transactions on Robotics for pre-approva

Monitoring indirect impact of COVID-19 pandemic on services for cardiovascular diseases in the UK.

OBJECTIVE: To monitor hospital activity for presentation, diagnosis and treatment of cardiovascular diseases during the COVID-19) pandemic to inform on indirect effects. METHODS: Retrospective serial cross-sectional study in nine UK hospitals using hospital activity data from 28 October 2019 (pre-COVID-19) to 10 May 2020 (pre-easing of lockdown) and for the same weeks during 2018-2019. We analysed aggregate data for selected cardiovascular diseases before and during the epidemic. We produced an online visualisation tool to enable near real-time monitoring of trends. RESULTS: Across nine hospitals, total admissions and emergency department (ED) attendances decreased after lockdown (23 March 2020) by 57.9% (57.1%-58.6%) and 52.9% (52.2%-53.5%), respectively, compared with the previous year. Activity for cardiac, cerebrovascular and other vascular conditions started to decline 1-2 weeks before lockdown and fell by 31%-88% after lockdown, with the greatest reductions observed for coronary artery bypass grafts, carotid endarterectomy, aortic aneurysm repair and peripheral arterial disease procedures. Compared with before the first UK COVID-19 (31 January 2020), activity declined across diseases and specialties between the first case and lockdown (total ED attendances relative reduction (RR) 0.94, 0.93-0.95; total hospital admissions RR 0.96, 0.95-0.97) and after lockdown (attendances RR 0.63, 0.62-0.64; admissions RR 0.59, 0.57-0.60). There was limited recovery towards usual levels of some activities from mid-April 2020. CONCLUSIONS: Substantial reductions in total and cardiovascular activities are likely to contribute to a major burden of indirect effects of the pandemic, suggesting they should be monitored and mitigated urgently

Semi-arid zone caves:Evaporation and hydrological controls on δ¹⁸O drip water composition and implications for speleothem paleoclimate reconstructions

Oxygen isotope ratios in speleothems may be affected by external processes that are independent of climate, such as karst hydrology and kinetic fractionation. Consequently, there has been a shift towards characterising and understanding these processes through cave monitoring studies, particularly focussing on temperate zones where precipitation exceeds evapotranspiration. Here, we investigate oxygen isotope systematics at Wellington Caves in semi-arid, SE Australia, where evapotranspiration exceeds precipitation. We use a novel D2O isotopic tracer in a series of artificial irrigations, supplemented by pre-irrigation data comprised four years of drip monitoring and three years of stable isotope analysis of both drip waters and rainfall. This study reveals that: (1) evaporative processes in the unsaturated zone dominate the isotopic composition of drip waters; (2) significant soil zone ‘wetting up’ is required to overcome soil moisture deficits in order to achieve infiltration, which is highly dependent on antecedent hydro-climatic conditions; (3) lateral flow, preferential flow and sorption in the soil zone are important in redistributing subsurface zone water; (4) isotopic breakthrough curves suggest clear evidence of piston-flow at some drip sites where an older front of water discharged prior to artificial irrigation water; and (5) water residence times in a shallow vadose zone (<2 m) are highly variable and can exceed six months. Oxygen isotope speleothem records from semi-arid regions are therefore more likely to contain archives of alternating paleo-aridity and paleo-recharge, rather than paleo-rainfall e.g. the amount effect or mean annual. Speleothem-forming drip waters will be dominated by evaporative enrichment, up to ∼3‰ in the context of this study, relative to precipitation-weighted mean annual rainfall. The oxygen isotope variability of such coeval records may further be influenced by flow path and storage in the unsaturated zone that is not only drip specific but also influenced by internal cave climatic conditions, which may vary spatially in the cave

Informative Path Planning to Estimate Quantiles for Environmental Analysis

Scientists interested in studying natural phenomena often take physical specimens from locations in the environment for later analysis. These analysis locations are typically specified by expert heuristics. Instead, we propose to choose locations for scientific analysis by using a robot to perform an informative path planning survey. The survey results in a list of locations that correspond to the quantile values of the phenomenon of interest. We develop a robot planner using novel objective functions to improve the estimates of the quantile values over time and an approach to find locations which correspond to the quantile values. We test our approach in four different environments using previously collected aquatic data and validate it in a field trial. Our proposed approach to estimate quantiles has a 10.2% mean reduction in median error when compared to a baseline approach which attempts to maximize spatial coverage. Additionally, when localizing these values in the environment, we see a 15.7% mean reduction in median error when using cross-entropy with our loss function compared to a baseline.Comment: 8 pages, 9 figure

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM

Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment, checking and computing the transformation for all the loop closure candidates becomes computationally infeasible. In this work, we describe a loop closure module that is able to prioritize which loop closures to compute based on the underlying pose graph, the proximity to known beacons, and the characteristics of the point clouds. We validate this system in the context of the DARPA Subterranean Challenge and on numerous challenging underground datasets and demonstrate the ability of this system to generate and maintain a map with low error. We find that our proposed techniques are able to select effective loop closures which results in 51% mean reduction in median error when compared to an odometric solution and 75% mean reduction in median error when compared to a baseline version of this system with no prioritization. We also find our proposed system is able to find a lower error in the mission time of one hour when compared to a system that processes every possible loop closure in four and a half hours. The code and dataset for this work can be found https://github.com/NeBula-Autonomy/LAM

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments

Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and perceptually-degraded subterranean environments, as the onboard perception system is required to operate in off-nominal conditions (poor visibility due to darkness and dust, rugged and muddy terrain, and the presence of self-similar and ambiguous scenes). In a disaster response scenario and in the absence of prior information about the environment, robots must rely on noisy sensor data and perform Simultaneous Localization and Mapping (SLAM) to build a 3D map of the environment and localize themselves and potential survivors. To that end, this paper reports on a multi-robot SLAM system developed by team CoSTAR in the context of the DARPA Subterranean Challenge. We extend our previous work, LAMP, by incorporating a single-robot front-end interface that is adaptable to different odometry sources and lidar configurations, a scalable multi-robot front-end to support inter- and intra-robot loop closure detection for large scale environments and multi-robot teams, and a robust back-end equipped with an outlier-resilient pose graph optimization based on Graduated Non-Convexity. We provide a detailed ablation study on the multi-robot front-end and back-end, and assess the overall system performance in challenging real-world datasets collected across mines, power plants, and caves in the United States. We also release our multi-robot back-end datasets (and the corresponding ground truth), which can serve as challenging benchmarks for large-scale underground SLAM

Therapies for Long COVID in non-hospitalised individuals: from symptoms, patient-reported outcomes and immunology to targeted therapies (The TLC Study).

INTRODUCTION Individuals with COVID-19 frequently experience symptoms and impaired quality of life beyond 4-12 weeks, commonly referred to as Long COVID. Whether Long COVID is one or several distinct syndromes is unknown. Establishing the evidence base for appropriate therapies is needed. We aim to evaluate the symptom burden and underlying pathophysiology of Long COVID syndromes in non-hospitalised individuals and evaluate potential therapies. METHODS AND ANALYSIS A cohort of 4000 non-hospitalised individuals with a past COVID-19 diagnosis and 1000 matched controls will be selected from anonymised primary care records from the Clinical Practice Research Datalink, and invited by their general practitioners to participate on a digital platform (Atom5). Individuals will report symptoms, quality of life, work capability and patient-reported outcome measures. Data will be collected monthly for 1 year.Statistical clustering methods will be used to identify distinct Long COVID-19 symptom clusters. Individuals from the four most prevalent clusters and two control groups will be invited to participate in the BioWear substudy which will further phenotype Long COVID symptom clusters by measurement of immunological parameters and actigraphy.We will review existing evidence on interventions for postviral syndromes and Long COVID to map and prioritise interventions for each newly characterised Long COVID syndrome. Recommendations will be made using the cumulative evidence in an expert consensus workshop. A virtual supportive intervention will be coproduced with patients and health service providers for future evaluation.Individuals with lived experience of Long COVID will be involved throughout this programme through a patient and public involvement group. ETHICS AND DISSEMINATION Ethical approval was obtained from the Solihull Research Ethics Committee, West Midlands (21/WM/0203). Research findings will be presented at international conferences, in peer-reviewed journals, to Long COVID patient support groups and to policymakers. TRIAL REGISTRATION NUMBER 1567490