Robust Connectivity Analysis for Multi-Agent Systems

In this report we provide a decentralized robust control approach, which guarantees that connectivity of a multi-agent network is maintained when certain bounded input terms are added to the control strategy. Our main motivation for this framework is to determine abstractions for multi-agent systems under coupled constraints which are further exploited for high level plan generation.Comment: 20 page

Cluster headache: a quasi-rare disorder needing a reappraisal

Editoria

Robust Decentralized Abstractions for Multiple Mobile Manipulators

This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of interest in the workspace, while guaranteeing at the same time inter-agent collision avoidance and connectivity maintenance for a subset of initially connected agents. In that way, the motion of the coupled multi-agent system is abstracted into multiple finite transition systems for each agent, which are then suitable for the application of temporal logic-based high level plans. The proposed methodology is decentralized, since each agent uses local information based on limited sensing capabilities. Finally, simulation studies verify the validity of the approach.Comment: Accepted for publication in the IEEE Conference on Decision and Control, Melbourne, Australia, 201

New players in the preventive treatment of migraine.

Migraine is a common, chronic disorder of the brain causing much disability, as well as personal, familial and societal impact. Several oral preventive agents are available in different countries for the prevention of migraine, but none have performed better than 50% improvement in 50% of patients in a clinical trial. Additionally, each has various possible adverse events making their tolerability less than optimal. Recently, three monoclonal antibodies targeting the calcitonin gene-related peptide (CGRP) ligand (LY2951742, ALD403 and TEV-48125) and one targeting the CGRP receptor (AMG 334) have completed phase 2 trials, and the results have been reported. These early results show them all to be somewhat more effective than placebo, with no serious adverse events. Three have been studied for episodic migraine, and only TEV-48125 has been studied for both high frequency episodic and chronic migraine. Moreover, preliminary data suggests that neurostimulation is effective in migraine treatment, including stimulation of the sphenopalatine ganglion, transcutaneous supraorbital and supratrochlear nerve, and transcutaneous vagus nerve. In this article, these innovative therapies will be reviewed