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Ernesto Kofman

Publications and source records attributed to Ernesto Kofman.

7 recordsLinked to original sources

A Novel Aggregated SIR Model for Spatial Epidemic Propagation

We propose an extension of the classical susceptible infectious recovered (SIR) model that incorporates the effects of spatial propagation of an epidemic through a small number of additional compartments. The model is designed to capture the dynamics of disease spread across multiple interconnected cities or populated regions, while avoiding the high dimensionality and large parameter sets typical of network based or agent-based approaches. Instead of explicitly modeling individual locations or mobility networks, we introduce aggregate variables that describe whether the epidemic has not yet reached, is currently active in, or has already passed through different regions of the spatial domain. This formulation allows the model to reproduce key qualitative features observed in aggregated incidence data, such as prolonged plateaus and multiple infection waves arising from asynchronous local outbreaks. The resulting system consists of ordinary differential equations with a relatively small number of interpretable parameters, providing a tractable framework for analytical investigation and numerical simulation. Our approach offers a parsimonious alternative for studying spatially structured epidemic dynamics when only aggregated data are available or when model simplicity is essential.

math.NA

On General Linearly Implicit Quantized State System Methods

This work proposes a methodology to develop new numerical integration algorithms for ordinary differential equations based on state quantization, generalizing the notions of Linearly Implicit Quantized State Systems (LIQSS) methods. Using this idea, two novel sub-families of algorithms are designed that improve the performance of current LIQSS methods while preserving their properties regarding stability, global error bound and efficient event handling capabilities. The features of the new algorithms are studied in two application examples where the advantages over classic numerical integration algorithms is also analyzed.

math.NA

Revisión de Métodos de Planificación de Camino de Cobertura para Entornos Agrícolas

The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current state of the art of coverage path planning methods. Two widely used techniques applicable to agricultural environments are described in detail. The first consists of breaking down a complex field with obstacles into simpler subregions known as cells, to subsequently generate a coverage pattern in each of them. The second analyzes spaces composed of parallel strips through which the robot must circulate, in order to find the optimal order of visiting strips that minimizes the total distance traveled. Additionally, the combination of both techniques is discussed in order to obtain a more efficient global coverage plan. This analysis was conceived to be implemented with the soybean crop weeding robot developed at CIFASIS (CONICET-UNR).

cs.RO

GNSS-stereo-inertial SLAM for arable farming

The accelerating pace in the automation of agricultural tasks demands highly accurate and robust localization systems for field robots. Simultaneous Localization and Mapping (SLAM) methods inevitably accumulate drift on exploratory trajectories and primarily rely on place revisiting and loop closing to keep a bounded global localization error. Loop closure techniques are significantly challenging in agricultural fields, as the local visual appearance of different views is very similar and might change easily due to weather effects. A suitable alternative in practice is to employ global sensor positioning systems jointly with the rest of the robot sensors. In this paper we propose and implement the fusion of global navigation satellite system (GNSS), stereo views, and inertial measurements for localization purposes. Specifically, we incorporate, in a tightly coupled manner, GNSS measurements into the stereo-inertial ORB-SLAM3 pipeline. We thoroughly evaluate our implementation in the sequences of the Rosario data set, recorded by an autonomous robot in soybean fields, and our own in-house data. Our data includes measurements from a conventional GNSS, rarely included in evaluations of state-of-the-art approaches. We characterize the performance of GNSS-stereo-inertial SLAM in this application case, reporting pose error reductions between 10% and 30% compared to visual-inertial and loosely coupled GNSS-stereo-inertial baselines. In addition to such analysis, we also release the code of our implementation as open source.

cs.RO

retQSS: A Novel Methodology for Efficient Modeling and Simulation of Particle Systems in Reticulated Geometries

This work presents retQSS, a novel methodology for efficient modeling and simulation of particle systems in reticulated meshed geometries. On the simulation side, retQSS profits from the discrete-event nature of Quantized State System (QSS) methods, which enable efficient particle tracking algorithms that are agnostic of the application domain. On the modeling side, retQSS relies on the standardized Modelica modeling language, yielding compact and elegant specifications of hybrid (continuous/discrete) dynamic systems. Combined together, these features offer a sound, general-purpose framework for modeling and simulation of particle systems. We show how the state-events that arise when particles interact with a reticulated mesh are seamlessly translated into easily tractable time-events. The latter can substantially improve simulation performance in scenarios where discontinuities dominate the computational demand. We showcase the flexibility of our approach by addressing four case studies arising from different application domains. Performance studies revealed that retQSS can perform similarly to, and even outperform, well-known domain-specific particle simulation toolkits while offering a clear and sound accuracy control interface.

physics.comp-ph

Connected Components in Undirected Set--Based Graphs. Applications in Object--Oriented Model Manipulation

This work introduces a novel algorithm for finding the connected components of a graph where the vertices and edges are grouped into sets defining a Set--Based Graph. The algorithm, under certain restrictions on those sets, has the remarkable property of achieving constant computational costs with the number of vertices and edges. The mentioned restrictions are related to the possibility of representing the sets of vertices by intension and the sets of edges using some particular type of maps. While these restrictions can result strong in a general context, they are usually satisfied in the problem of transforming connections into equations in object oriented models, which is the main application of the proposed algorithm. Besides describing the new algorithm and studying its computational cost, the work describes its prototype implementation and shows its application in different examples.

cs.DS

The Rosario Dataset: Multisensor Data for Localization and Mapping in Agricultural Environments

In this paper we present The Rosario Dataset, a collection of sensor data for autonomous mobile robotics in agricultural scenes. The dataset is motivated by the lack of realistic sensor readings gathered by a mobile robot in such environments. It consists of 6 sequences recorded in soybean fields showing real and challenging cases: highly repetitive scenes, reflection and burned images caused by direct sunlight and rough terrain among others. The dataset was conceived in order to provide a benchmark and contribute to the agricultural SLAM/odometry and sensor fusion research. It contains synchronized readings of several sensors: wheel odometry, IMU, stereo camera and a GPS-RTK system. The dataset is publicly available in http://www.cifasis-conicet.gov.ar/robot/.

cs.RO