Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations

In this paper, we present the design, development and a practical use of an Autonomous Surface Vehicle (ASV) as a modular and flexible platform for a large variety of marine tasks including the coordination strategies with other marine robots. This work tackles the integration of an open-source Robot-Operating-System (ROS)-based control architecture that provides the ASV with a wide variety of navigation behaviors. These new ASV capabilities can be used to acquire useful data from the environment to survey, map, and characterize marine habitats. In addition, the ASV is used as a radio frequency relay point between an Autonomous Underwater Vehicle (AUV) and the ground station as well as to enhance the Acoustic Communication Link (ACL) with the AUV. In order to improve the quality of the ACL, a new Marine Multirobot System (MMRS) coordination strategy has been developed that aims to keep both vehicles close to each other. The entire system has been successfully designed, implemented, and tested in real marine environment robotic tasks. The experimental tests show satisfactory results both in ROS-based navigation architecture and the MMRS coordination strategy resulting in a significant improvement of the quality of the ACL.

Let's Move It Together: A Review of Group Benefits in Joint Object Control

In daily life, humans frequently engage in object-directed joint actions, be it carrying a table together or jointly pulling a rope. When two or more individuals control an object together, they may distribute control by performing complementary actions, e.g., when two people hold a table at opposite ends. Alternatively, several individuals may execute control in a redundant manner by performing the same actions, e.g., when jointly pulling a rope in the same direction. Previous research has investigated whether dyads can outperform individuals in tasks where control is either distributed or redundant. The aim of the present review is to integrate findings for these two types of joint control to determine common principles and explain differing results. In sum, we find that when control is distributed, individuals tend to outperform dyads or attain similar performance levels. For redundant control, conversely, dyads have been shown to outperform individuals. We suggest that these differences can be explained by the possibility to freely divide control: Having the option to exercise control redundantly allows co-actors to coordinate individual contributions in line with individual capabilities, enabling them to maximize the benefit of the available skills in the group. In contrast, this freedom to adopt and adapt customized coordination strategies is not available when the distribution of control is determined from the outset.

An in-depth analysis of theoretical frameworks for the study of care coordination

Introduction

Complex chronic conditions often require long-term care from various healthcare professionals. Thus, maintaining quality care requires care coordination. Concepts for the study of care coordination require clarification to develop, study and evaluate coordination strategies. In 2007, the Agency for Healthcare Research and Quality defined care coordination and proposed five theoretical frameworks for exploring care coordination. This study aimed to update current theoretical frameworks and clarify key concepts related to care coordination.

Methods

We performed a literature review to update existing theoretical frameworks. An in-depth analysis of these theoretical frameworks was conducted to formulate key concepts related to care coordination.

Results

Our literature review found seven previously unidentified theoretical frameworks for studying care coordination. The in-depth analysis identified fourteen key concepts that the theoretical frameworks addressed. These were ‘external factors’, ‘structure’, ‘tasks characteristics’, ‘cultural factors’, ‘knowledge and technology’, ‘need for coordination’, ‘administrative operational processes’, ‘exchange of information’, ‘goals’, ‘roles’, ‘quality of relationship’, ‘patient outcome’, ‘team outcome’, and ‘(inter)organizational outcome’.

Conclusion

These 14 interrelated key concepts provide a base to develop or choose a framework for studying care coordination. The relational coordination theory and the multi-level framework are interesting as these are the most comprehensive.