Existing multi-robot cooperative perception solutions can be mainly classified into two categories, measurement-based and belief-based, according to the information shared among robots. With well-controlled communication, measurement-based approaches are expected to achieve theoretically optimal estimates while belief-based approaches are not because the cross-correlations between beliefs are hard to be perfectly estimated in practice. Nevertheless, belief-based approaches perform relatively stable under unstable communication as a belief contains the information of multiple previous measurements. Motivated by the observation that measurement sharing and belief sharing are respectively superior in different conditions, in this paper a hybrid algorithm, communication adaptive multi-robot simultaneous localization and tracking (ComAd MR-SLAT), is proposed to combine the advantages of both. To tackle the unknown or unstable communication conditions, the information to share is decided by maximizing the expected uncertainty reduction online, based on which the algorithm dynamically alternates between measurementsharing and belief-sharing without information loss or reuse. The proposed ComAd MR-SLAT is evaluated in communication conditions with different packet loss rates and bursty loss lengths. In our experiments, ComAd MR-SLAT outperforms measurement-based and belief-based MR-SLAT in accuracy. The experimental results demonstrate the effectiveness of the proposed hybrid algorithm and exhibit that ComAd MR-SLAT is robust under different communication conditions.
Anti-N-methyl-d-aspartate (anti-NMDA) receptor encephalitis is a newly recognized, potentially fatal, but treatable autoimmune disease. Good outcome predictors include milder severity of symptoms, no need for intensive care unit admission, early aggressive immunotherapy, and prompt tumor removal. We report a case of a young girl aged 3 years 2 months and diagnosed as recalcitrant anti-NMDA receptor encephalitis without any underlying neoplasm. The patient had initial symptoms of behavioral changes that progressed to generalized choreoathetosis and orofacial dyskinesia, which resulted in 6 months of hospitalization in the pediatric intensive care unit. One year after initial onset of the disease, she had only achieved the developmental age of an infant aged 6–8 months in terms of gross and fine motor skills, but she resumed total independence in activities of daily living after receiving extensive immunotherapy and 28 months of rehabilitation. Our brief review will help clinical practitioners become more familiar with this disease and the unique rehabilitation programs.
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