The contribution of this paper is twofold. First, a new data driven approach for predicting the Covid-19 pandemic dynamics is introduced. The second contribution consists in reporting and discussing the results that were obtained with this approach for the Brazilian states, with predictions starting as of 4 May 2020. As a preliminary study, we first used an Long Short Term Memory for Data Training-SAE (LSTM-SAE) network model. Although this first approach led to somewhat disappointing results, it served as a good baseline for testing other ANN types. Subsequently, in order to identify relevant countries and regions to be used for training ANN models, we conduct a clustering of the world’s regions where the pandemic is at an advanced stage. This clustering is based on manually engineered features representing a country’s response to the early spread of the pandemic, and the different clusters obtained are used to select the relevant countries for training the models. The final models retained are Modified Auto-Encoder networks, that are trained on these clusters and learn to predict future data for Brazilian states. These predictions are used to estimate important statistics about the disease, such as peaks and number of confirmed cases. Finally, curve fitting is carried out to find the distribution that best fits the outputs of the MAE, and to refine the estimates of the peaks of the pandemic. Predicted numbers reach a total of more than one million infected Brazilians, distributed among the different states, with São Paulo leading with about 150 thousand confirmed cases predicted. The results indicate that the pandemic is still growing in Brazil, with most states peaks of infection estimated in the second half of May 2020. The estimated end of the pandemics (97% of cases reaching an outcome) spread between June and the end of August 2020, depending on the states.

Disaster robotics has become a research area in its own right, with several reported cases of successful robot deployment in actual disaster scenarios. Most of these disaster deployments use aerial, ground, or underwater robotic platforms. However, the research involving autonomous boats or Unmanned Surface Vehicles (USVs) for Disaster Management (DM) is currently spread across several publications, with varying degrees of depth, and focusing on more than one unmanned vehicle—usually under the umbrella of Unmanned Marine Vessels (UMV). Therefore, the current importance of USVs for the DM process in its different phases is not clear. This paper presents the first comprehensive survey about the applications and roles of USVs for DM, as far as we know. This work demonstrates that there are few current deployments in disaster scenarios, with most of the research in the area focusing on the technological aspects of USV hardware and software, such as Guidance Navigation and Control, and not focusing on their actual importance for DM. Finally, to guide future research, this paper also summarizes our own contributions, the lessons learned, guidelines, and research gaps.

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Trajectory tracking for autonomous vehicles is usually solved by designing control laws that make the vehicles track predetermined feasible trajectories based on the trajectory error. This type of approach suffers from the drawback that usually the vehicle dynamics exhibits complex nonlinear terms and significant uncertainties. Toward solving this problem, this work proposes a novel approach in trajectory tracking control for nonholonomic mobile robots. We use a nonlinear model predictive controller to track a given trajectory. The novelty is introduced by using a set of modifications in the robot model, cost function, and optimizer aiming to minimize the steady-state error rapidly. Results of simulations and experiments with real robots are presented and discussed verifying and validating the applicability of the proposed approach in nonholonomic mobile robots.

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SUMMARYModel predictive control (MPC) theory has gained attention with the recent increase in the processing power of computers that are now able to perform the needed calculations for this technique. This kind of control algorithms can achieve better results in trajectory tracking control of mobile robots than classical control approaches. In this paper, we present a review of recent developments in trajectory tracking control of mobile robot systems using model predictive control theory, especially when nonholonomicity is present. Furthermore, we point out the growth of the related research starting with the boom of mobile robotics in the 90s and discuss reported field applications of the described control problem. The objective of this paper is to provide a unified and accessible presentation, placing the classical model, problem formulations and approaches into a proper context and to become a starting point for researchers who are initiating their endeavors in linear/nonlinear MPC applied to nonholonomic mobile robots. Finally, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works, including our contributions to state-of-the-art.

The use of robotics in disaster scenarios has become a reality. However, an Unmanned Surface Vehicle (USV) needs a robust navigation strategy to face unpredictable environmental forces such as waves, wind, and water current. A starting step toward this goal is to have a programming environment with realistic USV models where designers can assess their control strategies under different degrees of environmental disturbances. This paper presents a simulation environment integrated with robotic middleware which models the forces that act on a USV in a disaster scenario. Results show that these environmental forces affect the USV’s trajectories negatively, indicating the need for more research on USV control strategies considering harsh environmental conditions. Evaluation scenarios were presented to highlight specific features of the simulator, including a bridge inspection scenario with fast water current and winds.