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Abstract Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation under energy constraints. This paper presents a unified framework, , that addresses both challenges through adaptive ergodic search and energy-aware scheduling in multi-robot systems. Our contributions are two-fold: (1) we model real-world variability using stochastic spatiotemporal environments, where the underlying information evolves continuously over space and time under process noise. To guide exploration, we construct a target information spatial distribution (TISD) based on clarity, a metric that captures the decay of information in the absence of observations and highlights regions of high uncertainty; and (2) we introduce ( ), an online scheduling method that enables persistent operation by coordinating rechargeable robots sharing a single mobile charging station. Unlike prior work, our approach avoids reliance on preplanned schedules, static or dedicated charging stations, and simplified robot dynamics. Instead, the scheduler supports general nonlinear models, accounts for uncertainty in the estimated position of the charging station, and handles central node failures. The proposed framework is validated through real-world hardware experiments, and feasibility guarantees are provided under specific assumptions.[Code: https://github.com/kalebbennaveed/mEclares-main.git][Experiment Video: https://www.youtube.com/watch?v=dmaZDvxJgF8]
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VARX Granger analysis: Models for neuroscience, physiology, sociology and econometrics
Complex systems, such as in brains, markets, and societies, exhibit internal dynamics influenced by external factors. Disentangling delayed external effects from internal dynamics within these systems is often difficult. We propose using a Vector Autoregressive model with eXogenous input (VARX) to capture delayed interactions between internal and external variables. Whereas this model aligns with Granger’s statistical formalism for testing “causal relations”, the connection between the two is not widely understood. Here, we bridge this gap by providing fundamental equations, user-friendly code, and demonstrations using simulated and real-world data from neuroscience, physiology, sociology, and economics. Our examples illustrate how the model avoids spurious correlation by factoring out external influences from internal dynamics, leading to more parsimonious explanations of these systems. For instance, in neural recordings we find that prolonged response of the brain can be explained as a short exogenous effect, followed by prolonged internal recurrent activity. In recordings of human physiology, we find that the model recovers established effects such as eye movements affecting pupil size and a bidirectional interaction of respiration and heart rate. We also provide methods for enhancing model efficiency, such as L2 regularization for limited data and basis functions to cope with extended delays. Additionally, we analyze model performance under various scenarios where model assumptions are violated. MATLAB, Python, and R code are provided for easy adoption:https://github.com/lcparra/varx.
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- Award ID(s):
- 2020624
- PAR ID:
- 10650617
- Editor(s):
- Al_khatib, Abdullah_Mohammad Ghazi
- Publisher / Repository:
- PLOS ONE
- Date Published:
- Journal Name:
- PLOS ONE
- Volume:
- 20
- Issue:
- 1
- ISSN:
- 1932-6203
- Page Range / eLocation ID:
- e0313875
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1371/journal.pone.0313875
