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We propose a modified population-based susceptible-exposed-infectious-recovered (SEIR) compartmental model for a retrospective study of the COVID-19 transmission dynamics in India during the first wave. We extend the conventional SEIR methodology to account for the complexities of COVID-19 infection, its multiple symptoms, and transmission pathways. In particular, we consider a time-dependent transmission rate to account for governmental controls (e.g., national lockdown) and individual behavioral factors (e.g., social distancing, mask-wearing, personal hygiene, and self-quarantine). An essential feature of COVID-19 that is different from other infections is the significant contribution of asymptomatic and pre-symptomatic cases to the transmission cycle. A Bayesian method is used to calibrate the proposed SEIR model using publicly available data (daily new tested positive, death, and recovery cases) from several Indian states. The uncertainty of the parameters is naturally expressed as the posterior probability distribution. The calibrated model is used to estimate undetected cases and study different initial intervention policies, screening rates, and public behavior factors, that can potentially strike a balance between disease control and the humanitarian crisis caused by a sudden strict lockdown. 

We propose a diffusion approximation method to the continuous-state Markov decision processes that can be utilized to address autonomous navigation and control in unstructured off-road environments. In contrast to most decision-theoretic planning frameworks that assume fully known state transition models, we design a method that eliminates such a strong assumption that is often extremely difficult to engineer in reality. We first take the second-order Taylor expansion of the value function. The Bellman optimality equation is then approximated by a partial differential equation, which only relies on the first and second moments of the transition model. By combining the kernel representation of the value function, we design an efficient policy iteration algorithm whose policy evaluation step can be represented as a linear system of equations characterized by a finite set of supporting states. We first validate the proposed method through extensive simulations in 2 D obstacle avoidance and 2.5 D terrain navigation problems. The results show that the proposed approach leads to a much superior performance over several baselines. We then develop a system that integrates our decision-making framework with onboard perception and conduct real-world experiments in both cluttered indoor and unstructured outdoor environments. The results from the physical systems further demonstrate the applicability of our method in challenging real-world environments. 

Navigation safety is critical for many autonomous systems such as self-driving vehicles in an urban environment. It requires an explicit consideration of boundary constraints that describe the borders of any infeasible, non-navigable, or unsafe regions. We propose a principled boundary-aware safe stochastic planning framework with promising results. Our method generates a value function that can strictly distinguish the state values between free (safe) and non-navigable (boundary) spaces in the continuous state, naturally leading to a safe boundary-aware policy. At the core of our solution lies a seamless integration of finite elements and kernel-based functions, where the finite elements allow us to characterize safety-critical states’ borders accurately, and the kernel-based function speeds up computation for the non-safety-critical states. The proposed method was evaluated through extensive simulations and demonstrated safe navigation behaviors in mobile navigation tasks. Additionally, we demonstrate that our approach can maneuver safely and efficiently in cluttered real-world environments using a ground vehicle with strong external disturbances, such as navigating on a slippery floor and against external human intervention. 

Abstract An integrated storm surge modeling and traffic analysis were conducted in this study to assess the effectiveness of hurricane evacuations through a case study of Hurricane Irma. The Category 5 hurricane in 2017 caused a record evacuation with an estimated 6.8 million people relocating statewide in Florida. The Advanced Circulation (ADCIRC) model was applied to simulate storm tides during the hurricane event. Model validations indicated that simulated pressures, winds, and storm surge compared well with observations. Model simulated storm tides and winds were used to estimate the area affected by Hurricane Irma. Results showed that the storm surge and strong wind mainly affected coastal counties in south-west Florida. Only moderate storm tides (maximum about 2.5 m) and maximum wind speed about 115 mph were shown in both model simulations and Federal Emergency Management Agency (FEMA) post-hurricane assessment near the area of hurricane landfall. Storm surges did not rise to the 100-year flood elevation level. The maximum wind was much below the design wind speed of 150–170 mph (Category 5) as defined in Florida Building Code (FBC) for south Florida coastal areas. Compared with the total population of about 2.25 million in the six coastal counties affected by storm surge and Category 1–3 wind, the statewide evacuation of approximately 6.8 million people was found to be an over-evacuation due mainly to the uncertainty of hurricane path, which shifted from south-east to south-west Florida. The uncertainty of hurricane tracks made it difficult to predict the appropriate storm surge inundation zone for evacuation. Traffic data were used to analyze the evacuation traffic patterns. In south-east Florida, evacuation traffic started 4 days before the hurricane’s arrival. However, the hurricane path shifted and eventually landed in south-west Florida, which caused a high level of evacuation traffic in south-west Florida. Over-evacuation caused Evacuation Traffic Index ( ETI ) to increase to 200% above normal conditions in some sections of highways, which reduced the effectiveness of evacuation. Results from this study show that evacuation efficiency can be improved in the future by more accurate hurricane forecasting, better public awareness of real-time storm surge and wind as well as integrated storm surge and evacuation modeling for quick response to the uncertainty of hurricane forecasting.