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This paper considers trajectory planning problems for autonomous robots in information gathering tasks. The objective of the planning is to maximize the information gathered within a finite time horizon. It is assumed that either the Extended Kalman Filter (EKF) or the Extended Information Filter (EIF) is applied to estimate the features of interest and the(More)
– Active SLAM poses the challenge for an autonomous robot to plan efficient paths simultaneous to the SLAM process. The uncertainties of the robot, map and sensor measurements, and the dynamic and motion constraints need to be considered in the planning process. In this paper, the active SLAM problem is formulated as an optimal trajectory planning problem.(More)
OBJECTIVE To determine public attitudes towards federal spending on nutrition assistance programmes and support for policies to improve the nutritional impact of the Supplemental Nutrition Assistance Program (SNAP). DESIGN Participants answered survey questions by telephone assessing support for SNAP spending and proposed programme policy changes. (More)
This paper provides a solution to the optimal trajectory planning problem in target localisation for multiple heterogeneous robots with bearing-only sensors. The objective here is to find robot trajectories that maximise the accuracy of the locations of the targets at a prescribed terminal time. The trajectory planning is formulated as an optimal control(More)
BACKGROUND Neighborhood environments affect children's health outcomes. Observational methods used to assess neighborhoods can be categorized as indirect, intermediate, or direct. Direct methods, involving in-person audits of the neighborhoods conducted by trained observers, are recognized as an accurate representation of current neighborhood conditions.(More)
Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents(More)
INTRODUCTION Low levels of food security are associated with dyslipidemia and chronic disease in adults, particularly in women. There is a gap in knowledge about the relationship between food security among youth and dyslipidemia and chronic disease. We investigated the relationship between food security status and dyslipidemia among low-income adolescents.(More)
OBJECTIVE To examine the opinions of stakeholders on strategies to improve dietary quality of Supplemental Nutrition Assistance Program (SNAP) participants. DESIGN Participants answered a thirty-eight-item web-based survey assessing opinions and perceptions of SNAP and programme policy changes. SETTING USA SUBJECTS Survey of 522 individuals with(More)
Leukocyte telomere length (LTL) has been inversely associated with sugar-sweetened beverage (SSB) consumption in cross-sectional studies, but no studies have examined whether dietary intake influences LTL over time. This study examined longitudinal associations between sugary foods and beverages and LTL. Participants were 65 overweight and obese pregnant(More)