Dataset Information

Safe and Robust Map Updating for Long-Term Operations in Dynamic Environments.

ABSTRACT: Ensuring safe and continuous autonomous navigation in long-term mobile robot applications is still challenging. To ensure a reliable representation of the current environment without the need for periodic remapping, updating the map is recommended. However, in the case of incorrect robot pose estimation, updating the map can lead to errors that prevent the robot's localisation and jeopardise map accuracy. In this paper, we propose a safe Lidar-based occupancy grid map-updating algorithm for dynamic environments, taking into account uncertainties in the estimation of the robot's pose. The proposed approach allows for robust long-term operations, as it can recover the robot's pose, even when it gets lost, to continue the map update process, providing a coherent map. Moreover, the approach is also robust to temporary changes in the map due to the presence of dynamic obstacles such as humans and other robots. Results highlighting map quality, localisation performance, and pose recovery, both in simulation and experiments, are reported.

SUBMITTER: Stefanini E

PROVIDER: S-EPMC10346461 | biostudies-literature | 2023 Jun

REPOSITORIES: biostudies-literature

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Safe and Robust Map Updating for Long-Term Operations in Dynamic Environments.

Stefanini Elisa E Ciancolini Enrico E Settimi Alessandro A Pallottino Lucia L

Sensors (Basel, Switzerland) 20230630 13

Ensuring safe and continuous autonomous navigation in long-term mobile robot applications is still challenging. To ensure a reliable representation of the current environment without the need for periodic remapping, updating the map is recommended. However, in the case of incorrect robot pose estimation, updating the map can lead to errors that prevent the robot's localisation and jeopardise map accuracy. In this paper, we propose a safe Lidar-based occupancy grid map-updating algorithm for dyna ...[more]

PMID: 37447914

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Project description:BackgroundThere are few long-term mortality prediction studies after acute aortic dissection (AAD) Type A and none were performed using new models such as neural networks (NN) or support vector machines (SVM) which may show a higher discriminatory potency than standard multivariable models.MethodsWe used 32 risk factors identified by Literature search and previously assessed in short-term outcome investigations. Models were trained (50%) and validated (50%) on 2 random samples from a consecutive 235-patient cohort. NN were run only on patients with complete data for all included variables (N = 211); SVM on the overall group. Discrimination was assessed by receiver operating characteristic area under the curve (AUC) and Gini's coefficients along with classification performance.ResultsThere were 84 deaths (36%) occurring at 564 +/- 48 days (95%CI from 470 to 658 days). Patients with complete variables had a slightly lower death rate (60 of 211, 28%). NN classified 44 of 60 (73%) dead patients and 147 of 151 (97%) long-term survivors using 5 covariates: immediate post-operative chronic renal failure, circulatory arrest time, the type of surgery on ascending aorta plus hemi-arch, extracorporeal circulation time and the presence of Marfan habitus. Global accuracies of training and validation NN were excellent with AUC respectively 0.871 and 0.870 but classification errors were high among patients who died. Training SVM, using a larger number of covariates, showed no false negative or false positive cases among 118 randomly selected patients (error = 0%, AUC 1.0) whereas validation SVM, among 117 patients, provided 5 false negative and 11 false positive cases (error = 22%, AUC 0.821, p < 0.01 versus NN results). An html file was produced to adopt and manipulate the selected parameters for practical predictive purposes.ConclusionsBoth NN and SVM accurately selected a few operative and immediate post-operative factors and the Marfan habitus as long-term mortality predictors in AAD Type A. Although these factors were not new per se, their combination may be used in practice to index death risk post-operatively with good accuracy.

Dataset Information

Safe and Robust Map Updating for Long-Term Operations in Dynamic Environments.

Publications

Safe and Robust Map Updating for Long-Term Operations in Dynamic Environments.

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