Готові списки джерел за темами / Navigation models

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Добірка наукової літератури з теми "Navigation models"

Автор: Grafiati
Опубліковано: 15 березня 2025

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Статті в журналах з теми "Navigation models"

1

Greenwood, Narcessa Gail-Rosales, Cynthia B. Taniguchi, Amy Sheldrick, and Leslie Hurley. "Navigation models in diverse outpatient settings: Shared themes, challenges, and opportunities." Journal of Clinical Oncology 36, no. 30_suppl (October 20, 2018): 134. http://dx.doi.org/10.1200/jco.2018.36.30_suppl.134.

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Анотація:
134 Background: Navigation has been recognized by the Centers for Medicare and Medicaid Services (CMS) as a component of quality oncology care. This discussion highlights progress of Nurse Navigation implementation within 3 US Oncology Network practices. A team-based approach optimizing patient care coordination and providing enhanced services has been identified. Study practices demonstrate common navigation goals and desired outcomes, despite variations in practice size, dissimilar workflows, and unclear best-practice guidelines for navigation in the outpatient setting. Methods: The US Oncology Network formed a committee to study and develop evidence-based nurse navigation processes for recommendation to the greater Network. The committee includes 6 members, each a lead Oncology Nurse Navigator, practicing in different US geographical regions. Preliminary steps were to seek evidence-based support through: Existing models for Oncology Nurse Navigation that are adaptable for the community setting Best-practice in navigation recommendations from esteemed professional organizations Challenges and solutions identified and implemented Scope of practice for the Nurse Navigator in a community setting Performance metrics targeting effective, value-driven navigation Results: Focusing on scientific Nursing Process, study practices provided navigation services to 3762 patients. Gaps in navigation processes were identified, as well as barriers throughout the continuum of care. Scope of Practice for the community-based Nurse Navigator was defined. Navigation framework was established to include patient/family education, psychosocial interventions, referral outsourcing, and patient advocacy. A formal job description was created for the role of the Oncology Nurse Navigator. The Interdisciplinary Care Team Conference Standard was finalized to support coordination of care. Conclusions: Work remains to define, implement, and test effective navigational models to support challenges of patients receiving care in the outpatient setting. Benefits resulting from Nurse Navigation processes are emerging as healthcare trends advance quality of care while decreasing total cost of care.
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2

Cao, Caroline G. L., and Paul Milgram. "Direction and Location Are Not Sufficient for Navigating in Nonrigid Environments: An Empirical Study in Augmented Reality." Presence: Teleoperators and Virtual Environments 16, no. 6 (December 1, 2007): 584–602. http://dx.doi.org/10.1162/pres.16.6.584.

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Анотація:
Nonrigid environments, such as the human colon, present unique challenges in maintaining spatial orientation during navigation. This paper presents a design concept for presenting spatial information in an augmented reality (AR) display, together with results of an experiment conducted to evaluate the relative usefulness of three types of spatial information for supporting navigation and spatial orientation in a nonrigid environment. Sixteen untrained subjects performed a simulated colonoscopy procedure, using rigid and nonrigid colon models and six different AR displays comprising various combinations of direction, location, and shape information related to the scope inside the colon. Results showed that, unlike navigating in rigid environments, subjects took 44% longer to navigate the nonrigid environment and were less efficient, and suggested that it may be useful to train aspiring endoscopists in an equivalent rigid environment initially. A navigational aid presenting shape information was more beneficial than location or direction information for navigating in the nonrigid environment. Even though the AR navigational aid display did not speed up travel time, navigation efficiency and confidence in direction and location judgment for all subjects were improved. Subjectively, subjects preferred having shape information, in addition to position and direction information, in the navigational aid.
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3

Bodas Gallego, Alberto. "Modern Solar Navigation Techniques." Groundings Undergraduate 14 (April 1, 2023): 29–50. http://dx.doi.org/10.36399/groundingsug.14.143.

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Анотація:
Navigation by sea has proven difficult due to the absence of distinct markers for guidance. One solution for longer journeys was to track the position of celestial bodies as a navigational method, which has become more reliable as mathematical models improved over time. This essay aims to explore the mathematical methods behind modern solar navigation techniques and illustrate how these models are highly useful to describe and predict real-life scenarios.
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4

Nosov, P. S., I. V. Palamarchuk, S. M. Zinchenko, Ya A. Nahrybelnyi, I. S. Popovych, and ,. H. V. Nosova. "Development of means for experimental identification of navigator attention in ergatic systems of maritime transport." Bulletin of the Karaganda University. "Physics" Series 97, no. 1 (March 30, 2020): 58–69. http://dx.doi.org/10.31489/2020ph1/58-69.

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Анотація:
The article discusses the issues of identification of models of analysis of the navigational situation by the navigator during the passage in narrow places and port areas; this is especially relevant in critical situations. As part of the research, an analysis of literary sources was carried out, which made it possible to characterize this direction as actual for the development of special means of an experimental nature. As the main goal, the article presents formal-logical approaches to the development of software and hardware means for determining the areas of attention of the navigator as a subject of an ergatic system. A mechanism was determined for the formation the indexes of the analytical activities of the navigator during assessing the situation, mathematical models, and means for clarifying the position of the navigator on the navigation bridge. A geometric approximation of indexes was proposed, the metric of which can significantly reduce the identification time of critical situations and prevent negative consequences. The carried experiments by using the certified navigation simulator Navi Trainer 5000 confirmed the effectiveness and practical value of the proposed approaches, which will greatly improve the retraining of marine crew.
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5

Levchenko, O. "A METHOD FOR FORMALIZING THE DECISION-MAKING PROCESS FOR PREVENTING DANGEROUS SITUATIONS IN THE E-NAVIGATION SYSTEM." Shipping & Navigation 34, no. 1 (May 5, 2023): 115–26. http://dx.doi.org/10.31653/2306-5761.34.2023.115-126.

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The study aims to improve the safety of ship traffic by improving the methods of formalizing the decision-making process for preventing dangerous situations in a single e-navigation concept. The goal is achieved by a clear statement of the problem and the choice of appropriate approaches to its solution. The main stages of the decision-making cycle performed by the navigator in collision prevention are analysed. Particular attention is paid to the operations performed at the decisionmaking stage on the further movement of the vessel. The ship's movement plan is described by models of elementary behaviour, each of which consists of elementary actions represented by a set of fuzzy logic rules for performing a certain subtask. The structure of a system that implements the behavioural approach to decision-making by a navigator is proposed. Emphasis is placed on the need to coordinate vessels when deciding to plan a route based on models of elementary behaviours, and a method for coordinating the planning of the vessel's trajectory is developed. The sequence of stages of the method for coordinating the planning of the ship's trajectory is performed cyclically until the target point of the route is reached. At each stage of the vessel's movement, the navigation obstacles and other vessels entering the area of interest of the navigator are monitored and potential hazards from them are identified. A method for tracing the vessel's movement and existing vessels in the navigator’s interest area has been developed, which allows for predicting the location at subsequent moments and identifying the coordinates of the conflict site where a situation of dangerous proximity occurs. To formalize the areas dangerous for vessel traffic, a method for generating a map of navigational hazards and conflict situations in the navigator’s interest area has been developed, based on a modified method of potential fields. To formally describe the space, only the concept of a potential function is used to represent the space as a matrix of values. The most significant scientific result is the proposed approach to solving the problem of supporting the decision-making of a navigator based on a combination of methods using fuzzy logic and allowed domains, which allows obtaining options for actions that ensure the safety of ship movement in a dangerous situation. Keywords: ship, navigator, collision, navigation situation, navigation systems, e-navigation, tracing method, navigation hazard, navigation hazard map
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6

Zhou, Gengze, Yicong Hong, and Qi Wu. "NavGPT: Explicit Reasoning in Vision-and-Language Navigation with Large Language Models." Proceedings of the AAAI Conference on Artificial Intelligence 38, no. 7 (March 24, 2024): 7641–49. http://dx.doi.org/10.1609/aaai.v38i7.28597.

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Анотація:
Trained with an unprecedented scale of data, large language models (LLMs) like ChatGPT and GPT-4 exhibit the emergence of significant reasoning abilities from model scaling. Such a trend underscored the potential of training LLMs with unlimited language data, advancing the development of a universal embodied agent. In this work, we introduce the NavGPT, a purely LLM-based instruction-following navigation agent, to reveal the reasoning capability of GPT models in complex embodied scenes by performing zero-shot sequential action prediction for vision-and-language navigation (VLN). At each step, NavGPT takes the textual descriptions of visual observations, navigation history, and future explorable directions as inputs to reason the agent's current status, and makes the decision to approach the target. Through comprehensive experiments, we demonstrate NavGPT can explicitly perform high-level planning for navigation, including decomposing instruction into sub-goals, integrating commonsense knowledge relevant to navigation task resolution, identifying landmarks from observed scenes, tracking navigation progress, and adapting to exceptions with plan adjustment. Furthermore, we show that LLMs is capable of generating high-quality navigational instructions from observations and actions along a path, as well as drawing accurate top-down metric trajectory given the agent's navigation history. Despite the performance of using NavGPT to zero-shot R2R tasks still falling short of trained models, we suggest adapting multi-modality inputs for LLMs to use as visual navigation agents and applying the explicit reasoning of LLMs to benefit learning-based models. Code is available at: https://github.com/GengzeZhou/NavGPT.
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7

Berdahl, Andrew M., Albert B. Kao, Andrea Flack, Peter A. H. Westley, Edward A. Codling, Iain D. Couzin, Anthony I. Dell, and Dora Biro. "Collective animal navigation and migratory culture: from theoretical models to empirical evidence." Philosophical Transactions of the Royal Society B: Biological Sciences 373, no. 1746 (March 26, 2018): 20170009. http://dx.doi.org/10.1098/rstb.2017.0009.

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Анотація:
Animals often travel in groups, and their navigational decisions can be influenced by social interactions. Both theory and empirical observations suggest that such collective navigation can result in individuals improving their ability to find their way and could be one of the key benefits of sociality for these species. Here, we provide an overview of the potential mechanisms underlying collective navigation, review the known, and supposed, empirical evidence for such behaviour and highlight interesting directions for future research. We further explore how both social and collective learning during group navigation could lead to the accumulation of knowledge at the population level, resulting in the emergence of migratory culture. This article is part of the theme issue ‘Collective movement ecology’.
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8

Palamarchuk, I. V. "MODELING THE DIVERGENCE OF SHIPS IN THE DECISION SUPPORT SYSTEM OF THE NAVIGATOR." Scientific Bulletin Kherson State Maritime Academy 1, no. 22 (2020): 45–53. http://dx.doi.org/10.33815/2313-4763.2020.1.22.045-053.

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Анотація:
The aim of the study is to develop modern conceptual approaches to the construction of decision support systems in navigation, to determine the theoretical and practical foundations for creating such systems and priority ways of their practical implementation. From the analysis of recent publications, it has been revealed that the widespread use of new information technologies and modern technical means of navigation leads to an increase in the detail of the present navigation situation, but at the same time its assessment becomes more complicated and the time available to the navigator for analysis and development of the necessary control decision is reduced. For this reason, the development of decision support systems (DSS) for the navigator, which use new meaningful models of the hazard identification process for navigating a ship in the event of prerequisites for an emergency, is an urgent task of the present time. The creation of such systems will reduce the negative impact of the human factor on the processes of ship traffic control. The article develops theoretical and practical foundations for constructing a DSS for a navigator, taking into account the peculiarities of the movement of ships, the process of human interaction with technical means of navigation. The article develops theoretical and practical foundations for constructing a DSS for a navigator, taking into account the peculiarities of the movement of ships, the process of human interaction with technical means of navigation. New mathematical models of control over the process of divergence of ships are proposed. The classification of ships according to the degree of danger is carried out, depending on the change in the angle of the line of their relative movement. Criteria for a quantitative assessment of the hazard level of a ships based on the analysis of changes in the angle of the line of its relative motion are presented. The results obtained are the basis for further increasing the efficiency of the functioning of the ergatic system «man - technical means of navigation» and the comprehensive implementation of the achievements of new information technologies in the ship control processes.
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9

Freeman, Robin, and Dora Biro. "Modelling Group Navigation: Dominance and Democracy in Homing Pigeons." Journal of Navigation 62, no. 1 (December 22, 2008): 33–40. http://dx.doi.org/10.1017/s0373463308005080.

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Анотація:
During group navigation the information shared by group members may be complex, heterogeneous and may vary over time. Nevertheless, modelling approaches have demonstrated that even relatively simple interactions between individuals can produce complex collective outcomes. In such models each individual follows the same simple set of local rules, giving rise to differential outcomes of the navigational decision-making process depending on various parameters. However, inherent heterogeneity within groups means that some group members may emerge as more influential than others in navigational tasks and this underlying social structure may affect the ability of the group at large. Here, we present our preliminary modelling of group navigation specifically developed to include internal group structure. Building on existing models and recent experimental results we examine the role of individual influence on group navigation and its effects on group navigational ability.
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10

Jindal, Honey, and Neetu Sardana. "An Empirical Analysis of Web Navigation Prediction Techniques." Journal of Cases on Information Technology 19, no. 1 (January 2017): 1–14. http://dx.doi.org/10.4018/jcit.2017010101.

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Анотація:
With the advancement of Information Technology, web is growing rapidly and it has became necessary part of our daily lives. It is mandate to study the navigation behavior of the user to improve the quality of web site design for personalization and further recommendation. Analysis of web navigation behavior heavily relies on navigational models. This paper is an effort to give insights of current state-of-the-art techniques used for web navigation prediction. These navigation models are broadly classified into three categories: sequential mining, classification and clustering. Analytical analysis is performed on all the categories used in web navigation prediction. Further empirical analysis is performed on popular techniques of each category Markov Model (sequential mining), Support vector machine (classification) and K-means (clustering) on the common platform to measure the effectiveness of these techniques.
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Більше джерел

Дисертації з теми "Navigation models"

1

Masek, Theodore. "Acoustic image models for navigation with forward-looking sonars." Thesis, Monterey, Calif. : Naval Postgraduate School, 2008. http://edocs.nps.edu/npspubs/scholarly/theses/2008/Dec/08Dec%5FMasek.pdf.

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Анотація:
Thesis (M.S. in Software Engineering)--Naval Postgraduate School, December 2008.
Thesis Advisor(s): Kolsch, Mathias. "December 2008." Description based on title screen as viewed on January 30, 2009. Includes bibliographical references (p. 51-52). Also available in print.
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2

Sutton, R. "Fuzzy set models of the helmsman steering a ship in course-keeping and course-changing modes." Thesis, Cardiff University, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.377871.

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3

Llofriu, Alonso Martin I. "Multi-Scale Spatial Cognition Models and Bio-Inspired Robot Navigation." Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6888.

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The rodent navigation system has been the focus of study for over a century. Discoveries made lately have provided insight on the inner workings of this system. Since then, computational approaches have been used to test hypothesis, as well as to improve robotics navigation and learning by taking inspiration on the rodent navigation system. This dissertation focuses on the study of the multi-scale representation of the rat’s current location found in the rat hippocampus. It first introduces a model that uses these different scales in the Morris maze task to show their advantages. The generalization power of larger scales of representation are shown to allow for the learning of more coherent and complete policies faster. Based on this model, a robotics navigation learning system is presented and compared to an existing algorithm on the taxi driver problem. The algorithm outperforms a canonical Q-Learning algorithm, learning the task faster. It is also shown to work in a continuous environment, making it suitable for a real robotics application. A novel task is also introduced and modeled, with the aim of providing further insight to an ongoing discussion over the involvement of the temporal portion of the hippocampus in navigation. The model is able to reproduce the results obtained with real rats and generates a set of empirically verifiable predictions. Finally, a novel multi-query path planning system is introduced, inspired in the way rodents represent location, their way of storing a topological model of the environment and how they use it to plan future routes. The algorithm is able to improve the routes in the second run, without disrupting the robustness of the underlying navigation system.
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4

Julier, Simon J. "Process models for the navigation of high speed land vehicles." Thesis, University of Oxford, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.362011.

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5

Kerfs, Jeremy N. "Models for Pedestrian Trajectory Prediction and Navigation in Dynamic Environments." DigitalCommons@CalPoly, 2017. https://digitalcommons.calpoly.edu/theses/1716.

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Анотація:
Robots are no longer constrained to cages in factories and are increasingly taking on roles alongside humans. Before robots can accomplish their tasks in these dynamic environments, they must be able to navigate while avoiding collisions with pedestrians or other robots. Humans are able to move through crowds by anticipating the movements of other pedestrians and how their actions will influence others; developing a method for predicting pedestrian trajectories is a critical component of a robust robot navigation system. A current state-of-the-art approach for predicting pedestrian trajectories is Social-LSTM, which is a recurrent neural network that incorporates information about neighboring pedestrians to learn how people move cooperatively around each other. This thesis extends and modifies that model to output parameters for a multimodal distribution, which better captures the uncertainty inherent in pedestrian movements. Additionally, four novel architectures for representing neighboring pedestrians are proposed; these models are more general than current trajectory prediction systems and have fewer hyper-parameters. In both simulations and real-world datasets, the multimodal extension significantly increases the accuracy of trajectory prediction. One of the new neighbor representation architectures achieves state-of-the-art results while reducing the number of both parameters and hyper-parameters compared to existing solutions. Two techniques for incorporating the trajectory predictions into a planning system are also developed and evaluated on a real-world dataset. Both techniques plan routes that include fewer near-collisions than algorithms that do not use trajectory predictions. Finally, a Python library for Agent-Based-Modeling and crowd simulation is presented to aid in future research.
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6

Kretzschmar, Henrik [Verfasser], and Wolfram [Akademischer Betreuer] Burgard. "Learning probabilistic models for mobile robot navigation = Techniken zum maschinellen Lernen probabilistischer Modelle für die Navigation mit mobilen Robotern." Freiburg : Universität, 2014. http://d-nb.info/1123481040/34.

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7

Reid, Zachary A. "Leveraging 3D Models for SAR-based Navigation in GPS-denied Environments." Wright State University / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=wright1540419210051179.

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8

Goldiez, Brian. "TECHNIQUES FOR ASSESSING AND IMPROVING PERFORMANCE IN NAVIGATION AND W." Doctoral diss., University of Central Florida, 2004. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/3603.

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Анотація:
Augmented reality is a field of technology in which the real world is overlaid with additional information from a computer generated display. Enhancements to augmented reality technology presently support limited mobility which is expected to increase in the future to provide much greater real world functionality. This work reports on a set of experiments that investigate performance in search and rescue navigating tasks using augmented reality. Augmentation consisted of a spatially and temporally registered map of a maze that was overlaid onto a real world maze. Participants were required to traverse the maze, answer spatially oriented questions in the maze, acquire a target object, and exit. Pre and post hoc questionnaires were administered. Time and accuracy data from one hundred twenty participants were collected across six treatments. The between subject treatments, which had an equal number of male and female participants, were a control condition with only a compass, a control condition with a paper map available prior to maze traversal and four experimental conditions consisting of combinations of egocentric and exocentric maps, and a continuously on and on demand map display. Data collected from each participant consisted of time to traverse the maze, percent of the maze covered, estimations of euclidian distance and direction, estimations of cardinal direction, and spatial recall. Data was also collected via pre and post hoc questionnaires. Results indicate that best performance with respect to time was in the control condition with a map. The small size of the maze could have facilitated this result through route memorization. Augmented reality can offer enhancement to performance as navigational tasks become more complex and saturate working memory. Augmented reality showed best performance in accuracy by facilitating participants' coverage of the maze. Exocentric maps generally exhibited better performance than egocentric maps. On demand displays also generally resulted in better performance than continuously on displays. Gender differences also were evident with males exhibiting better performance than females. Participants reporting an initial tendency to not rotate maps exhibited better performance than those reporting a tendency to rotate maps. Enhancements being made to augmented reality and related technologies will result in more features, improved form factor for users, and improved performance in the future. Guidelines provided in this work seek to ensure augmented reality systems continue to progress in enhancing performance
Ph.D.
Other
Arts and Sciences
Modeling and Simulation
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9

Yu, Chunlei. "Contribution to evidential models for perception grids : application to intelligent vehicle navigation." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2293.

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Анотація:
Pour les véhicules intelligents, un système de perception est un élément clé pour caractériser en temps réel un modèle de l’environnement de conduite autour du véhicule. Lors de la modélisation de l’environnement, les informations relatives aux obstacles doivent être gérées prioritairement car les collisions peuvent être mortelles pour les autres usagers de la route ou pour les passagers à bord du véhicule considéré. La caractérisation de l’espace occupé est donc cruciale mais pas suffisante pour les véhicules autonomes puisque le système de contrôle a besoin de trouver l’espace navigable pour assurer une planification sure de trajectoire. En effet, afin de naviguer sur les routes publiques avec d’autres utilisateurs, le véhicule doit aussi suivre les règles de circulation qui sont décrites, par exemple, par des marquages au sol peints sur la chaussée. Dans ce travail, nous nous concentrons sur une approche fondée sur des grilles égocentrées pour modéliser l’environnement. L’objectif est d’obtenir un modèle unifié contenant les informations d’obstacle avec des règles sémantiques de la route. Pour modéliser les informations d’obstacle, l’occupation est assurée par l’interprétation des informations des différents capteurs comme les valeurs des cellules. Pour modéliser la sémantique de l’espace navigable, nous proposons d’introduire la notion de grille de voies qui consiste à intégrer l’information sémantique de voie dans les cellules de la grille. La combinaison de ces deux niveaux d’information donne ainsi un modèle d’environnement plus raffiné. Lors de l’interprétation des données des capteurs en information d’obstacle, il faut manipuler des incertitudes dues à de l’ignorance ou des erreurs. L’ignorance est liée à la perception des nouveaux espaces dans la zone de perception et les erreurs proviennent de mesures bruitées et d’estimations imprécises de la pose. Dans cette recherche, la théorie de la fonction de croyance est adoptée pour faire face aux incertitudes et nous proposons des modèles évidentiels pour différents types de capteurs comme des lidars et des caméras. Les grilles de voie contiennent des informations sémantiques sur les voies provenant des marquages au sol, par exemple. À cette fin, nous proposons d’utiliser une carte a priori qui contient des informations détaillées sur la route comme l’orientation de la route et les marquages des voies. Ces informations sont extraites de la carte en utilisant une estimation de pose fournie par un système de localisation. Dans le modèle proposé, nous intégrons dans les grilles les informations de voie en tenant compte de l’incertitude de la pose estimée. Les algorithmes proposés ont été implémentés et testés sur des données réelles obtenues sur des routes publiques. Nous avons développé des algorithmes Matlab et C ++ avec le logiciel PACPUS développé au laboratoire
For intelligent vehicle applications, a perception system is a key component to characterize in real-time a model of the driving environment at the surrounding of the vehicle. When modeling the environment, obstacle information is the first feature that has to be managed since collisions can be fatal for the other road users or for the passengers on-board the considered vehicle. Characterization of occupation space is therefore crucial but not sufficient for autonomous vehicles since the control system needs to find the navigable space for safe trajectory planning. Indeed, in order to run on public roads with other users, the vehicle needs to follow the traffic rules which are, for instance, described by markings painted on the carriageway. In this work, we focus on an ego-centered grid-based approach to model the environment. The objective is to include in a unified world model obstacle information with semantic road rules. To model obstacle information, occupancy is handled by interpreting the information of different sensors into the values of the cells. To model the semantic of the navigable space, we propose to introduce the notion of lane grids which consist in integrating semantic lane information into the cells of the grid. The combination of these two levels of information gives a refined environment model. When interpreting sensor data into obstacle information, uncertainty inevitably arises from ignorance and errors. Ignorance is due to the perception of new areas and errors come from noisy measurements and imprecise pose estimation. In this research, the belief function theory is adopted to deal with uncertainties and we propose evidential models for different kind of sensors like lidars and cameras. Lane grids contain semantic lane information coming from lane marking information for instance. To this end, we propose to use a prior map which contains detailed road information including road orientation and lane markings. This information is extracted from the map by using a pose estimate provided by a localization system. In the proposed model, we integrate lane information into the grids by taking into account the uncertainty of the estimated pose. The proposed algorithms have been implemented and tested on real data acquired on public roads. We have developed algorithms in Matlab and C++ using the PACPUS software framework developed at the laboratory
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10

Lui, Sin Ting Angela. "Enhancing stochastic mobility prediction models for robust planetary navigation on unstructured terrain." Thesis, The University of Sydney, 2014. http://hdl.handle.net/2123/12904.

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Motion planning for planetary rovers must consider control uncertainty in order to maintain the safety of the platform during navigation. Modelling such control uncertainty is challenging on unstructured terrain, and especially on deformable terrain, due to the complex interaction between the platform and its environment. In this thesis, we propose to enhance stochastic transition models for planning, where the outcomes of the control actions are learnt from experience and represented statistically using probability density functions. These transition models that capture control uncertainty are known as Stochastic Mobility Prediction Models (SMPM). Rovers may traverse a mixture of rigid and deformable terrain. However, current SMPMs are only capable of estimating one dimension of control uncertainty in rigid terrain. We propose to enhance the SMPM by Learning from Exteroception, a training method that relies on sample executions of motion primitives on representative terrain and the corresponding platform configurations collected along the executed path. This method enables the estimation of the outcome of future control actions on deformable terrain. The SMPM is further enhanced by using multi-output Gaussian process regression by simultaneously considering the correlation between multiple dimensions of uncertainty. The enhanced SMPM is integrated into a Markov decision process framework and dynamic programming is used to construct a control policy for navigation to a goal region in a terrain map. We consider both rigid and deformable terrain, consisting of uneven ground, small rocks, and non-traversable rocks. Over 300 experimental trials are reported using a planetary rover platform in a Mars-analogue environment. Our results demonstrate increased path safety and reliability by the improved traversal cost and actions executed; due to the SMPM improvement in predicting control action outcomes.
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Книги з теми "Navigation models"

1

Park, Howard. Navigation conditions in lower lock approach of Ice Harbor Lock and Dam, Snake River, Washington. [Vicksburg, Miss: US Army Corps of Engineers, Engineer Research and Development Center, Coastal and Hydraulics Laboratory, 2002.

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Park, Howard. Navigation conditions in lower lock approach of Ice Harbor Lock and Dam, Snake River, Washington. Vicksburg, MS (3909 Halls Ferry Road, Vicksburg, 39180): U.S. Army Corps of Engineers, Engineer Research and Development Center, Coastal and Hydraulics Laboratory, 2002.

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Libý, Josef. Model investigations of the improvement of navigations conditions on the lower Elbe (Labe) between Střekov anf Prostřední Žleb. Prague: Výzkumný ústav vodohospodářský T.G. Masaryka, 2002.

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Bottin, Robert R. Design for navigation improvements at Nome Harbor, Alaska: Coastal model investigation. Vicksburg, Miss: U.S. Army Engineer Waterways Experiment Station, 1998.

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Bottin, Robert R. Design for navigation improvements at Nome Harbor, Alaska: Coastal model investigation. Vicksburg, Miss: U.S. Army Engineer Waterways Experiment Station, 1998.

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Myrick, Carolyn M. Navigation conditions at Mitchell Lock and Dam, Coosa River, Alabama: Hydraulic model investigation. Vicksburg, Miss: Dept. of the Army, Waterways Experiment Station, Corps of Engineers, 1985.

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Myrick, Carolyn M. Navigation conditions at Mitchell Lock and Dam, Coosa River, Alabama: Hydraulic model investigation. Vicksburg, Miss: Dept. of the Army, Waterways Experiment Station, Corps of Engineers, 1985.

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Myrick, Carolyn M. Navigation conditions in vicinity of Walter Bouldin Lock and Dam, Coosa River Project: Hydraulic model investigation. Vicksburg, Miss: Dept. of the Army, Waterways Experiment Station, Corps of Engineers, 1985.

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9

D, Mulherin Nathan, U.S. Cold Regions Research and Engineering Laboratory., and United States. Army. Corps of Engineers. Alaska District., eds. Development and results of a Northern Sea Route transit model. [Hanover, N.H.]: Dept. of the Army, Cold Regions Research and Engineering Laboratory, 1996.

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10

Shudde, Rex H. Some tactical algorithms for spherical geometry. Monterey, Calif: Naval Postgraduate School, 1986.

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Частини книг з теми "Navigation models"

1

Miller, James. "Force Models." In Planetary Spacecraft Navigation, 51–93. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-78916-3_2.

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Wells, Kristen J., and Sumayah Nuhaily. "Models of Patient Navigation." In Patient Navigation, 27–40. New York, NY: Springer New York, 2017. http://dx.doi.org/10.1007/978-1-4939-6979-1_2.

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3

Ayoun, André, Jean-Pierre Gambotto, and Jean-Luc Jezouin. "Geometric Models for Navigation." In Mapping and Spatial Modelling for Navigation, 245–58. Berlin, Heidelberg: Springer Berlin Heidelberg, 1990. http://dx.doi.org/10.1007/978-3-642-84215-3_13.

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Chroust, Gerhard. "Navigation in process models." In Software Process Technology, 119–22. Berlin, Heidelberg: Springer Berlin Heidelberg, 1994. http://dx.doi.org/10.1007/3-540-57739-4_16.

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5

Yan, Jinjin, and Sisi Zlatanova. "Space-based Navigation Models." In Seamless 3D Navigation in Indoor and Outdoor Spaces, 45–62. Boca Raton: CRC Press, 2022. http://dx.doi.org/10.1201/9781003281146-3.

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Epstein, Susan L., Anoop Aroor, Matthew Evanusa, Elizabeth I. Sklar, and Simon Parsons. "Learning Spatial Models for Navigation." In Spatial Information Theory, 403–25. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-23374-1_19.

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Ackermann, Friedrich. "Digital Terrain Models of Forest Areas by Airborne Laser Profiling." In High Precision Navigation, 239–50. Berlin, Heidelberg: Springer Berlin Heidelberg, 1989. http://dx.doi.org/10.1007/978-3-642-74585-0_17.

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Mansour, Moussa, and David Donaldson. "Invasive Electroanatomical Mapping and Navigation." In Cardiac Electrophysiology Methods and Models, 349–56. Boston, MA: Springer US, 2010. http://dx.doi.org/10.1007/978-1-4419-6658-2_17.

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9

Ramírez-Hernández, Luis Roberto, Julio Cesar Rodríguez-Quiñonez, Moisés J. Castro-Toscano, Daniel Hernández-Balbuena, Wendy Flores-Fuentes, Moisés Rivas-López, Lars Lindner, Danilo Cáceres-Hernández, Marina Kolendovska, and Fabián N. Murrieta-Rico. "Stereoscopic Vision Systems in Machine Vision, Models, and Applications." In Machine Vision and Navigation, 241–65. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-22587-2_8.

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Yan, Lei, An Li, Wanfeng Ji, and Yang Li. "Topographic Elevation Navigation and Positioning Fundamentals and Theoretical Models." In Navigation: Science and Technology, 193–230. Singapore: Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-97-5524-0_6.

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Тези доповідей конференцій з теми "Navigation models"

1

Balcı, Emirhan, Mehmet Sarıgül, and Barış Ata. "Prompting Large Language Models for Aerial Navigation." In 2024 9th International Conference on Computer Science and Engineering (UBMK), 304–9. IEEE, 2024. https://doi.org/10.1109/ubmk63289.2024.10773467.

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2

Cai, Wenzhe, Siyuan Huang, Guangran Cheng, Yuxing Long, Peng Gao, Changyin Sun, and Hao Dong. "Bridging Zero-shot Object Navigation and Foundation Models through Pixel-Guided Navigation Skill." In 2024 IEEE International Conference on Robotics and Automation (ICRA), 5228–34. IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610499.

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Burlet, J., T. Fraichard, and O. Aycard. "Robust navigation using Markov models." In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2005. http://dx.doi.org/10.1109/iros.2005.1545091.

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4

Anderson, Mark. "Standard optimal pilot models." In Guidance, Navigation, and Control Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1994. http://dx.doi.org/10.2514/6.1994-3627.

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Anthes, Christoph, Paul Heinzlreiter, Gerhard Kurka, and Jens Volkert. "Navigation models for a flexible, multi-mode VR navigation framework." In the 2004 ACM SIGGRAPH international conference. New York, New York, USA: ACM Press, 2004. http://dx.doi.org/10.1145/1044588.1044693.

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6

Zhang, Yubo, Hao Tan, and Mohit Bansal. "Diagnosing the Environment Bias in Vision-and-Language Navigation." In Twenty-Ninth International Joint Conference on Artificial Intelligence and Seventeenth Pacific Rim International Conference on Artificial Intelligence {IJCAI-PRICAI-20}. California: International Joint Conferences on Artificial Intelligence Organization, 2020. http://dx.doi.org/10.24963/ijcai.2020/124.

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Vision-and-Language Navigation (VLN) requires an agent to follow natural-language instructions, explore the given environments, and reach the desired target locations. These step-by-step navigational instructions are crucial when the agent is navigating new environments about which it has no prior knowledge. Most recent works that study VLN observe a significant performance drop when tested on unseen environments (i.e., environments not used in training), indicating that the neural agent models are highly biased towards training environments. Although this issue is considered as one of the major challenges in VLN research, it is still under-studied and needs a clearer explanation. In this work, we design novel diagnosis experiments via environment re-splitting and feature replacement, looking into possible reasons for this environment bias. We observe that neither the language nor the underlying navigational graph, but the low-level visual appearance conveyed by ResNet features directly affects the agent model and contributes to this environment bias in results. According to this observation, we explore several kinds of semantic representations that contain less low-level visual information, hence the agent learned with these features could be better generalized to unseen testing environments. Without modifying the baseline agent model and its training method, our explored semantic features significantly decrease the performance gaps between seen and unseen on multiple datasets (i.e. R2R, R4R, and CVDN) and achieve competitive unseen results to previous state-of-the-art models.
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Doman, David, and Mark Anderson. "Fixed order optimal pilot models." In Guidance, Navigation, and Control Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1996. http://dx.doi.org/10.2514/6.1996-3871.

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Baras, Karolina, A. Moreira, and F. Meneses. "Navigation based on symbolic space models." In 2010 International Conference on Indoor Positioning and Indoor Navigation (IPIN). IEEE, 2010. http://dx.doi.org/10.1109/ipin.2010.5646810.

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9

Canciani, Aaron, and John Raquet. "Self Building World Models for Navigation." In 2017 International Technical Meeting of The Institute of Navigation. Institute of Navigation, 2017. http://dx.doi.org/10.33012/2017.14966.

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Kruse, Thibault, Alexandra Kirsch, Harmish Khambhaita, and Rachid Alami. "Evaluating directional cost models in navigation." In HRI'14: ACM/IEEE International Conference on Human-Robot Interaction. New York, NY, USA: ACM, 2014. http://dx.doi.org/10.1145/2559636.2559662.

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Звіти організацій з теми "Navigation models"

1

Gilbert, Jennifer, Stephanie Veazie, Kevin Joines, Kara Winchell, Rose Relevo, Robin Paynter, and Jeanne-Marie Guise. Patient Navigation Models for Lung Cancer. Agency for Healthcare Research and Quality (AHRQ), December 2018. http://dx.doi.org/10.23970/ahrqepcrapidlung.

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Ryerson, R. A. Global navigation satellite system augmentation models environmental scan. Natural Resources Canada/ESS/Scientific and Technical Publishing Services, 2015. http://dx.doi.org/10.4095/297405.

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3

Cronin, Thomas W. Natural Models for Autonomous Control of Spatial Navigation, Sensing, and Guidance. Fort Belvoir, VA: Defense Technical Information Center, May 2013. http://dx.doi.org/10.21236/ada594988.

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Marshall, Justin, Thomas Cronin, and Nick Roberts. Natural Models for Autonomous Control of Spatial Navigation, Sensing, and Guidance, Part 1. Fort Belvoir, VA: Defense Technical Information Center, June 2011. http://dx.doi.org/10.21236/ada547656.

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5

Moore, Gabriel, Anton du Toit, Susie Thompson, Jillian Hutchinson, Adira Wiryoatmodjo, Prithivi Prakash Sivaprakash, and Rebecca Gordon. Effectiveness of school located nurse models. The Sax Institute, May 2021. http://dx.doi.org/10.57022/gmwr5438.

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This Rapid Evidence Summary looks at the effectiveness of school-located nurse models on student health, education and wellbeing. The strongest evidence was found for nurse-led models. All the included studies found that having a school nurse and school nursing interventions to be valuable for health promotion, early intervention, and timely care for at-risk students. They also found expanded nursing roles with more intensive care coordination and navigation, and efforts to engage families and social care providers to be of value. The authors note that the literature suggests that where nurses are an integral part of the school team and act as a central point of communication there is greater capacity for understanding students’ needs and mobilising targeted, appropriate and coordinated care.
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Altman, Safra, Krystyna Powell, and Marin Kress. Marine bioinvasion risk : review of current ecological models. Engineer Research and Development Center (U.S.), October 2023. http://dx.doi.org/10.21079/11681/47820.

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This special report describes the first phase of developing an ecological model to inform marine bioinvasion risks in the United States. The project responds to the needs of the US Army Corps of Engineers (USACE) Aquatic Nuisance Species Research Program, or ANSRP, which addresses all problematic invasive aquatic species affecting the nation’s waterways, infrastructure, and associated resources, and the needs of the USACE navigation and dredging programs. Multiple port-deepening studies are either in progress or under consideration, and all must address ecological risk. Understanding whether and how increased dredging contributes to increased marine bioinvasion risk allows risk mitigation during early planning phases. Considering the potential impacts of future environmental change, such as changing sea level, ocean temperature, and ocean chemistry, will further strengthen planning for marine bioinvasion risk. Therefore, this special report documents current ecological modeling approaches to marine bioinvasion risk models and identifies models that incorporate shipping as a vector. The special report then presents a conceptual model and identifies historic vessel position data from the Automatic Identification System, or AIS, now available for most commercial and some recreational vessels around the United States, as a key source for future model development and testing.
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Patev, Robert C., David L. Buccini, James W. Bartek, and Stuart Foltz. Improved Reliability Models for Mechanical and Electrical Components at Navigation Lock and Dam and Flood Risk Management Facilities. Fort Belvoir, VA: Defense Technical Information Center, April 2013. http://dx.doi.org/10.21236/ada582967.

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Li, Honghai, Mitchell Brown, Lihwa Lin, Yan Ding, Tanya Beck, Alejandro Sanchez,, Weiming Wu, Christopher Reed, and Alan Zundel. Coastal Modeling System user's manual. Engineer Research and Development Center (U.S.), April 2024. http://dx.doi.org/10.21079/11681/48392.

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The Coastal Modeling System (CMS) is a suite of coupled 2D numerical models for simulating nearshore waves, currents, water levels, sediment transport, morphology change, and salinity and temperature. Developed by the Coastal Inlets Research Program of the US Army Corps of Engineers, the CMS provides coastal engineers and scientists a PC-based, easy-to-use, accurate, and efficient tool for understanding of coastal processes and for designing and managing of coastal inlets research, navigation projects, and sediment exchange between inlets and adjacent beaches. The present technical report acts as a user guide for the CMS, which contains comprehensive information on model theory, model setup, and model features. The detailed descriptions include creation of a new project, configuration of model grid, various types of boundary conditions, representation of coastal structures, numerical methods, and coupled simulations of waves, hydrodynamics, and sediment transport. Pre- and post-model data processing and CMS modeling procedures are also described through operation within a graphic user interface—the Surface- water Modeling System.
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Lemasson, Bertrand, Emily Russ, and Chanda Littles. A review of habitat modeling methods that can advance our ability to estimate the ecological cobenefits of dredge material placement. Engineer Research and Development Center (U.S.), September 2024. http://dx.doi.org/10.21079/11681/49425.

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Beneficial use of dredged material (BUDM) has been a placement strategy within the US Army Corps of Engineers (USACE) for over 35 years, with applications that aim to reduce navigation costs, increase flood protection, and generate ecological benefits. However, the tools and approaches used for estimating ecological benefits are often limited in comparison with those available to evaluate costs and more traditional economic benefits when moving and placing dredged material. There are statistical and mechanistic models that can aid in quantifying habitat benefits within the context of BUDM projects, but there is currently no USACE-approved process that facilitates the integration of these modeling approaches. The purpose of this document is to provide a comprehensive review of existing habitat-centric statistical and mechanistic models that may aide USACE in identifying models most appropriate for quantifying potential ecological benefits and trade-offs at placement sites.
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Shukla, Indu, Rajeev Agrawal, Kelly Ervin, and Jonathan Boone. AI on digital twin of facility captured by reality scans. Engineer Research and Development Center (U.S.), November 2023. http://dx.doi.org/10.21079/11681/47850.

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The power of artificial intelligence (AI) coupled with optimization algorithms can be linked to data-rich digital twin models to perform predictive analysis to make better informed decisions about installation operations and quality of life for the warfighters. In the current research, we developed AI connected lifecycle building information models through the creation of a data informed smart digital twin of one of US Army Corps of Engineers (USACE) buildings as our test case. Digital twin (DT) technology involves creating a virtual representation of a physical entity. Digital twin is created by digitalizing data collected through sensors, powered by machine learning (ML) algorithms, and are continuously learning systems. The exponential advance in digital technologies enables facility spaces to be fully and richly modeled in three dimensions and can be brought together in virtual space. Coupled with advancement in reinforcement learning and computer graphics enables AI agents to learn visual navigation and interaction with objects. We have used Habitat AI 2.0 to train an embodied agent in immersive 3D photorealistic environment. The embodied agent interacts with a 3D environment by receiving RGB, depth and semantically segmented views of the environment and taking navigational actions and interacts with the objects in the 3D space. Instead of training the robots in physical world we are training embodied agents in simulated 3D space. While humans are superior at critical thinking, creativity, and managing people, whereas robots are superior at coping with harsh environments and performing highly repetitive work. Training robots in controlled simulated world is faster and can increase their surveillance, reliability, efficiency, and survivability in physical space.
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