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The State of Arizona in the south-western United States supports a high diversity of insects. Digitised occurrence records, especially from preserved specimens in natural history collections, are an important and growing resource to understand biodiversity and biogeography. Underlying bias in how insects are collected and what that means for interpreting patterns of insect diversity is largely untested. To explore the effects of insect collecting bias in Arizona, the State was regionalised into specific areas. First, the entire State was divided into broad biogeographic areas by ecoregion. Second, the 81 tallest mountain ranges were mapped on to the State. The distribution of digitised records across these areas were then examined.

A case study of surveying the beetles (Insecta, Coleoptera) of the Sand Tank Mountains is presented. The Sand Tanks are a low-elevation range in the Lower Colorado River Basin subregion of the Sonoran Desert from which a single beetle record was published before this study.

The number of occurrence records and collecting events are very unevenly distributed throughout Arizona and do not strongly correlate with the geographic size of areas. Species richness is estimated for regions in Arizona using rarefaction and extrapolation. Digitised records from the disproportionately highly collected areas in Arizona represent at best 70% the total insect diversity within them. We report a total of 141 species of Coleoptera from the Sand Tank Mountains, based on 914 digitised voucher specimens. These specimens add important new records for taxa that were previously unavailable in digitised data and highlight important biogeographic ranges.

Possible underlying mechanisms causing bias are discussed and recommendations are made for future targeted collecting of under-sampled regions. Insect species diversity is apparently at best 70% documented for the State of Arizona with many thousands of species not yet recorded. The Chiricahua Mountains are the most densely sampled region of Arizona and likely contain at least 2,000 species not yet vouchered in online data. Preliminary estimates for species richness of Arizona are at least 21,000 and likely much higher. Limitations to analyses are discussed which highlight the strong need for more insect occurrence data.

 

Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization, four key challenges must be addressed, including modeling complex relationships between observed objects, fusing observations from an arbitrary number of collaborating robots, quantifying localization uncertainty, and addressing latency of robot communications. In this paper, we introduce a novel approach that integrates uncertainty-aware spatiotemporal graph learning and model-based state estimation for a team of robots to collaboratively localize objects. Specifically, we introduce a new uncertainty-aware graph learning model that learns spatiotemporal graphs to represent historical motions of the objects observed by each robot over time and provides uncertainties in object localization. Moreover, we propose a novel method for integrated learning and model-based state estimation, which fuses asynchronous observations obtained from an arbitrary number of robots for collaborative localization. We evaluate our approach in two collaborative object localization scenarios in simulations and on real robots. Experimental results show that our approach outperforms previous methods and achieves state-of-the-art performance on asynchronous collaborative localization. 

We consider the problem of multi-robot sensor coverage, which deals with deploying a multi-robot team in an environment and optimizing the sensing quality of the overall environment. As real-world environments involve a variety of sensory information, and individual robots are limited in their available number of sensors, successful multi-robot sensor coverage requires the deployment of robots in such a way that each individual team member’s sensing quality is maximized. Additionally, because individual robots have varying complements of sensors and both robots and sensors can fail, robots must be able to adapt and adjust how they value each sensing capability in order to obtain the most complete view of the environment, even through changes in team composition. We introduce a novel formulation for sensor coverage by multi-robot teams with heterogeneous sensing capabilities that maximizes each robot's sensing quality, balancing the varying sensing capabilities of individual robots based on the overall team composition. We propose a solution based on regularized optimization that uses sparsity-inducing terms to ensure a robot team focuses on all possible event types, and which we show is proven to converge to the optimal solution. Through extensive simulation, we show that our approach is able to effectively deploy a multi-robot team to maximize the sensing quality of an environment, responding to failures in the multi-robot team more robustly than non-adaptive approaches. 

Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not equipped with a complete set of sensors, so teams with comprehensive sensing abilities are required to properly cover an area. Robots also exhibit multiple forms of relationships (e.g., communication connections or spatial distribution) that need to be considered when assigning robot teams for sensor coverage. To address this problem, in this paper we introduce a novel formulation of sensor coverage by multi-robot systems with heterogeneous relationships as a graph representation learning problem. We propose a principled approach based on the mathematical framework of regularized optimization to learn a unified representation of the multi-robot system from the graphs describing the heterogeneous relationships and to identify the learned representation’s underlying structure in order to assign the robots to teams. To evaluate the proposed approach, we conduct extensive experiments on simulated multi-robot systems and a physical multi-robot system as a case study, demonstrating that our approach is able to effectively assign teams for heterogeneous multi-robot sensor coverage.