Swarm robotics is a specific research field of multirobotics where a large number of mobile robots are controlled in a coordinated way. Formation control is one of the most challenging goals for the coordination control of swarm robots. In this paper, a behavior-based control design approach is proposed for two kinds of important formation control problems: efficient initial formation and formation control while avoiding obstacles. In this approach, a classification-based searching method for generating large-scale robot formation is presented to reduce the computational complexity and speed up the initial formation process for any desired formation. The behavior-based method is applied for the formation control of swarm robot systems while navigating in an unknown environment with obstacles. Several groups of experimental results demonstrate the success of the proposed approach. These methods have potential applications for various swarm robot systems in both the simulation and the practical environments.

Statistical post-processing for multi-model grand ensemble (GE) hydrologic predictions is necessary, in order to achieve more accurate and reliable probabilistic forecasts. This paper presents a case study which applies Bayesian model averaging (BMA) to statistically post-process raw GE runoff forecasts in the Fu River basin in China, at lead times ranging from 6 to 120 h. The raw forecasts were generated by running the Xinanjiang hydrologic model with ensemble forecasts (164 forecast members), using seven different "THORPEX Interactive Grand Global Ensemble" (TIGGE) weather centres as forcing inputs. Some measures, such as data transformation and high-dimensional optimization, were included in the experiment after considering the practical water regime and data conditions. The results indicate that the BMA post-processing method is capable of improving the performance of raw GE runoff forecasts, yielding more calibrated and sharp predictive probability density functions (PDFs), over a range of lead times from 24 to 120 h. The analysis of percentile forecasts in two different flood events illustrates the great potential and prospects of BMA GE probabilistic river discharge forecasts, for taking precautions against severe flooding events.

Land use changes are important aspects of global change and affect regional water cycles, environmental quality, biodiversity and terrestrial ecosystems. To understand the temporal and spatial land use change in the Jialing River Basin and its impacts on the hydrological cycle, land use change models and the variable infiltration capacity (VIC) model were applied separately to the Jialing River Basin. Real change and final change were analyzed to determine the consequences of land use changes and their hydrological consequences. Real change is defined as the total variation during a fixed period, including increases and decreases. Thus, real change is the sum of the absolute values of the decrease and the increase. Final change is defined as the difference between the beginning and end of a given period for a specific factor. Overall, the amounts of settlement and shrub land area changed significantly in the entire Jialing River (with final change rates of 20.77% and −16.07%, respectively, and real change rates of 34.2% and 30.1%, respectively, from 1985 to 1995, as well as final and real change rates of 29. 37%, 12.40%, 39.9% and 32.8%, respectively, from 1995 to 2000). Compared with the final change, the real change highlighted the rate of change and the change in woodland area. The land use changes in OPEN ACCESSWater 2014, 6 3759 the Lueyang (LY), Shehong (SH) and Fengtan (FT) subcatchments were more dynamic than in the other subcatchments. The economy, population and macro-policy were the main factors responsible for driving the land use changes. The decrease in woodland area in the LY subcatchment corresponded with an increase in evapotranspiration (ET) and with decreases in the other hydrological elements. Overall, the final changes in the hydrological elements in the LY, SH and FT subcatchments were not significant due to the average and compensation effects. The LY subcatchment was mainly affected by the average effect, whereas the SH and FT subcatchments were affected by the average and compensation effects. The use of real change can increase the detectability of hydrological elements changes caused by land use change in SH and FT. The results of this study provide new insights regarding the examination of the effects of land use changes on hydrological regimes. These results are useful for land use planners and water resource managers.

[1] Recently developed hillslope storage dynamics theory can represent the essential physical behavior of a natural system by accounting explicitly for the plan shape of a hillslope in an elegant and simple way. As a result, this theory is promising for improving catchment-scale hydrologic modeling. In this study, grid digital elevation model (DEM) based algorithms for determination of hillslope geometric characteristics (e.g., hillslope units and width functions in hillslope storage dynamics models) are presented. This study further develops a method for hillslope partitioning, established by Fan and Bras (1998), by applying it on a grid network. On the basis of hillslope unit derivation, a flow distance transforms method (TD1) is suggested in order to decrease the systematic error of grid DEM-based flow distance calculation caused by flow direction approximation to streamlines. Hillslope width transfer functions are then derived to convert the probability density functions of flow distance into hillslope width functions. These algorithms are applied and evaluated on five abstract hillslopes, and detailed tests and analyses are carried out by comparing the derivation results with theoretical width functions. The results demonstrate that the TD1 improves estimations of the flow distance and thus hillslope width function. As the proposed procedures are further applied in a natural catchment, we find that the natural hillslope width function can be well fitted by the Gaussian function. This finding is very important for applying the newly developed hillslope storage dynamics models in a real catchment.Citation: Liu, J., X. Chen, X. Zhang, and K. D. Hoagland (2012), Grid digital elevation model based algorithms for determination of hillslope width functions through flow distance transforms, Water Resour. Res., 48, W04532,

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