Kelly A. McGuire

McGuire, Kelly

doi:10.1287/18ae9c30-669a-4cb2-8896-213ccba7a67a

Cited by 3 publications

(5 citation statements)

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“…Bitcraze's own communication hardware, "Crazyradio," with the 2.4-GHz Wi-Fi band (46) was used for ranging to other drones and to the wireless beacon. The firmware running on the Crazyflies can be found in (40). It also served as a communication channel between the drones for exchanging desired headings.…”

Section: Real-world Experiments Resultsmentioning

confidence: 99%

“…3A) because it has especially been developed for multirobot systems (38). A Robot Operating System (ROS) environment was used to connect the SGBA controller, the automatic environment generator, and the simulator together, in a similar manner as in (33), by using ARGoS for ROS (39) [all code repositories for the simulation experiments can be found in (40)]. In simulation, the robots were adapted ARGoS foot-bots, which were originally modeled on the MarXbot (41).…”

Section: Simulation Experiments Resultsmentioning

confidence: 99%

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Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment

et al. 2019

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Swarms of tiny flying robots hold great potential for exploring unknown, indoor environments. Their small size allows them to move in narrow spaces, and their light weight makes them safe for operating around humans. Until now, this task has been out of reach due to the lack of adequate navigation strategies. The absence of external infrastructure implies that any positioning attempts must be performed by the robots themselves. State-of-the-art solutions, such as simultaneous localization and mapping, are still too resource demanding. This article presents the swarm gradient bug algorithm (SGBA), a minimal navigation solution that allows a swarm of tiny flying robots to autonomously explore an unknown environment and subsequently come back to the departure point. SGBA maximizes coverage by having robots travel in different directions away from the departure point. The robots navigate the environment and deal with static obstacles on the fly by means of visual odometry and wall-following behaviors. Moreover, they communicate with each other to avoid collisions and maximize search efficiency. To come back to the departure point, the robots perform a gradient search toward a home beacon. We studied the collective aspects of SGBA, demonstrating that it allows a group of 33-g commercial off-the-shelf quadrotors to successfully explore a real-world environment. The application potential is illustrated by a proof-of-concept search-and-rescue mission in which the robots captured images to find “victims” in an office environment. The developed algorithms generalize to other robot types and lay the basis for tackling other similarly complex missions with robot swarms in the future.

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Section: Real-world Experiments Resultsmentioning

confidence: 99%

Section: Simulation Experiments Resultsmentioning

confidence: 99%

Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment

et al. 2019

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“…Conversely, the probability of infiltration-generated debris flows is initially low and climbs modestly throughout recovery. The postwildfire hazard potential trajectories are not symmetric (Figure 9a), as shown in our original conceptual model (Figure 1a) and suggest that fire-induced changes to the soil alone may not be sufficient to impact the median annual probability of postwildfire shallow landsliding potential (McGuire et al, 2019). Loss of root cohesion via root decay following wildfire is widely recognized (DeGraff, 2018;Gehring et al, 2019;Jackson & Roering, 2009;Regelbrugge & Conard, 1993), but a broadly applicable expression that describes its change over time has not been developed.…”

Section: Runoff-versus Infiltration-generated Debris Flowsmentioning

confidence: 88%

“…These shallow landslides, whose failure planes generally corresponded with the interface between soil and weathered bedrock, were concentrated on recently burned south-facing slopes, although some did occur in nearby unburned areas (Rengers et al, 2020). The observed transition in mass wasting types following the 2016 Fish Fire (McGuire et al, 2019;Rengers et al, 2020) provides a timely opportunity to explore how postwildfire soil-hydraulic recovery affects rainfall intensity-duration thresholds.…”

Section: Regional Context and Hillslope Hydrologic Monitoring Datamentioning

confidence: 99%

Postwildfire Soil‐Hydraulic Recovery and the Persistence of Debris Flow Hazards

et al. 2021

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Deadly and destructive debris flows often follow wildfire, but understanding of changes in the hazard potential with time since fire is poor. We develop a simulation‐based framework to quantify changes in the hydrologic triggering conditions for debris flows as postwildfire infiltration properties evolve through time. Our approach produces time‐varying rainfall intensity‐duration thresholds for runoff‐ and infiltration‐generated debris flows with physics‐based hydrologic simulations that are parameterized with widely available hydroclimatic, vegetation reflectance, and soil texture data. When we apply our thresholding protocol to a test case in the San Gabriel Mountains (California, USA), the results are consistent with existing regional empirical thresholds and rainstorms that caused runoff‐ and infiltration‐generated debris flows soon after and three years following a wildfire, respectively. We find that the hydrologic triggering mechanisms for the two observed debris flow types are coupled with the effects of fire on the soil saturated hydraulic conductivity. Specifically, the rainfall intensity needed to generate debris flows via runoff increases with time following wildfire while the rainfall duration needed to produce debris flows via subsurface pore‐water pressures decreases. We also find that variations in soil moisture, rainfall climatology, median grain size, and root reinforcement could impact the median annual probability of postwildfire debris flows. We conclude that a simulation‐based method for calculating rainfall thresholds is a tractable approach to improve situational awareness of debris flow hazard in the years following wildfire. Further development of our framework will be important to quantify postwildfire hazard levels in variable climates, vegetation types, and fire regimes.

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“…As of June 2019, Black men had an imprisonment rate nearly seven times that of White men and two and a half times that of Latino men (BOP Statistics: Inmate Race, n.d.). North Carolina’s incarceration rate is similar to the overall U.S. population, but racial disparities are stark: In 2015 22% of the population was Black, but Black individuals constituted 55% of the prison population (McGuire, 2019). These disparities are particularly stark among youth: As of 2015, Black youth were five times more likely to be incarcerated than their white peers of a similar age (The Sentencing Project, 2017), and in North Carolina, where this study was conducted, Black youth were 7.5 times more likely than white youth to receive jail time (The Sentencing Project, 2017).…”

Section: Introductionmentioning

confidence: 99%

Structural-level racial-, sexual orientation-, and HIV-related discrimination and subsequent criminal justice involvement among young, Black, men who have sex with men in North Carolina.

Philbin¹,

Menza²,

LeGrand³

et al. 2023

Stigma and Health

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Multiple aspects of Black young men who have sex with men's (YMSM) identities cause them to be differentially targeted for arrest and incarceration. However, limited research has explored structural drivers of Black YMSM' criminal justice involvement, particularly co-occurring forms of discrimination. This article examines the temporal relationship between perceived racial discrimination, perceived sexual orientation discrimination, and community-level HIV discrimination and criminal justice involvement among Black YMSM in North Carolina. The study followed 465 Black YMSM from November 2013 to October 2016 who were recruited for a randomized controlled trial to test an internet-based intervention for Black YMSM living with, and at risk for HIV; participants completed online surveys at baseline, 3, 6, and 12 months. Logistic regression was used to explore the relationship between the three predictors at baseline (i.e., perceived racism and sexual orientation discrimination and community-level HIV discrimination) and criminal justice involvement at follow-up. All three predictor variables were significantly associated with subsequent criminal justice involvement in separate regression models that adjusted for other covariates: HIV discrimination (aOR = 1.06 [1.01-1.11]), perceived sexual orientation discrimination (aOR = 1.12 [1.00-1.27]), and perceived racism (aOR = 1.26 [1.12-1.42]). Perceived racism remained significant in the model with all three predictors (aOR = 1.29 [1.07-1.55]). Racism did not modify the relationship between HIV discrimination and perceived sexual orientation discrimination and criminal justice involvement. This study expands existing research by exploring racism as a structural driver of criminal justice involvement; we subsequently examined whether racism modified the effect of the two other predictors. It also contributes to research on co-occurring discrimination by examining their impact on an underrepresented population.

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Kelly A. McGuire

Cited by 3 publications

References 0 publications

Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment

Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment

Postwildfire Soil‐Hydraulic Recovery and the Persistence of Debris Flow Hazards

Structural-level racial-, sexual orientation-, and HIV-related discrimination and subsequent criminal justice involvement among young, Black, men who have sex with men in North Carolina.

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