published journal article

Globally Optimal Assignment Algorithm for Collective Object Transport Using Air–Ground Multirobot Teams

IEEE Transactions on Control Systems Technology

Publication Date

January 1, 2024

Author(s)

Tatsuya Miyano, Justin Romberg, Magnus Egerstedt

Abstract

We consider the problem of collectively transporting multiple objects using air–ground multirobot teams. The objective is to find the optimal matching between the objects and aerial/ground robots that minimizes the energy of the overall system. We reveal the local optimality criteria for this combinatorial problem and prove that combining a branch and bound algorithm with a negative-cycle canceling algorithm (NCCA) yields an efficient algorithm that provides the globally optimal solution of the problem. Numerical experiments demonstrate the performance on practical problems.

Suggested Citation
Tatsuya Miyano, Justin Romberg and Magnus Egerstedt (2024) “Globally Optimal Assignment Algorithm for Collective Object Transport Using Air–Ground Multirobot Teams”, IEEE Transactions on Control Systems Technology, 32(1), pp. 258–265. Available at: 10.1109/TCST.2023.3291880.

policy brief

Shared Autonomous Mobility Services Show Promise for Increasing Access to Employment in Southern California

Publication Date

May 1, 2020

Author(s)

Abstract

Workers in Southern California currently face transportationrelated challenges accessing employment opportunities, including but not limited to high parking costs and/or limited parking availability in dense employment and residential areas; long commute distances between residential areas and employment opportunities; and poor transit service quality in many areas. These challenges are particularly burdensome for low-income households that may not have access to a personal vehicle and/or live in jobpoor neighborhoods, as having a personal vehicle may be the only viable way to get to work.

Suggested Citation
Michael Hyland, Tanjeeb Ahmed, Navjyoth Sarma J S, Suman Mitra and Arash Ghaffar (2020) Shared Autonomous Mobility Services Show Promise for Increasing Access to Employment in Southern California. Policy Brief. Available at: https://escholarship.org/uc/item/79s7x09r (Accessed: October 11, 2023).

conference paper

A Practical Method to Adjust Bus Routes Based on Transfer Penalties Using Trip-Chain Data and SP Survey

100th Transportation Research Board (TRB) Annual Meeting

Publication Date

January 1, 2021

Author(s)

Younghun Bahk, Kwangho Baek, Jin-Hyuk Chung
Suggested Citation
Younghun Bahk, Kwangho Baek and Jin-Hyuk Chung (2021) “A Practical Method to Adjust Bus Routes Based on Transfer Penalties Using Trip-Chain Data and SP Survey”. 100th Transportation Research Board (TRB) Annual Meeting, Washington, DC.

conference paper

1 Dual-Horizon Forecasts and Repositioning Strategies for Operating Shared 2 Autonomous Mobility Fleets

99th Annual Meeting of the Transportation Research Board

Publication Date

August 1, 2019

Author(s)

Florian Dandl, Michael Hyland, Klaus Bogenberger, Hani Mahmassani
Suggested Citation
Florian Dandl, Michael F. Hyland, Klaus Bogenberger and Hani S Mahmassani (2019) “1 Dual-Horizon Forecasts and Repositioning Strategies for Operating Shared 2 Autonomous Mobility Fleets”. 99th Annual Meeting of the Transportation Research Board. Available at: https://mediatum.ub.tum.de/doc/1543181/document.pdf.

published journal article

Comments

Brookings-Wharton Papers on Urban Affairs

Publication Date

January 1, 2000

Author(s)

Jan Brueckner, Douglas Holtz-Eakin
Suggested Citation
Jan K. Brueckner and Douglas Holtz-Eakin (2000) “Comments”, Brookings-Wharton Papers on Urban Affairs, 2000(1), pp. 267–273. Available at: 10.1353/urb.2000.0014.

published journal article

Associations between green space and preterm birth: Windows of susceptibility and interaction with air pollution

Environment International

Publication Date

September 1, 2020

Author(s)

Yi Sun, Paige Sheridan, Olivier Laurent, Jia Li, David A. Sacks, Heidi Fischer, Yang Qiu, Yu Jiang, Ilona S. Yim, Luo-Hua Jiang, John Molitor, Jiu-Chiuan Chen, Tarik Benmarhnia, Jean M. Lawrence, Jun Wu

Abstract

Background Recent studies have reported inconsistent associations between maternal residential green space and preterm birth (PTB, born < 37 completed gestational weeks). In addition, windows of susceptibility during pregnancy have not been explored and potential interactions of green space with air pollution exposures during pregnancy are still unclear. Objectives To evaluate the relationships between green space and PTB, identify windows of susceptibility, and explore potential interactions between green space and air pollution. Methods Birth certificate records for all births in California (2001–2008) were obtained. The Normalized Difference Vegetation Index (NDVI) was used to characterized green space exposure. Gestational age was treated as a time-to-event outcome; Cox proportional hazard models were applied to estimate the association between green space exposure and PTB, moderately PTB (MPTB, gestational age < 35 weeks), and very PTB (VPTB, gestational age < 30 weeks), after controlling for maternal age, race/ethnicity, education, and median household income. Month-specific green space exposure was used to identify potential windows of susceptibility. Potential interactions between green space and air pollution [fine particulate matter < 2.5 µm (PM2.5), nitrogen dioxide (NO2), and ozone (O3)] were examined on both additive and multiplicative scales. Results In total, 3,753,799 eligible births were identified, including 341,123 (9.09%) PTBs, 124,631 (3.32%) MPTBs, and 22,313 (0.59%) VPTBs. A reduced risk of PTB was associated with increases in residential NDVI exposure in 250 m, 500 m, 1000 m, and 2000 m buffers. In the 2000 m buffer, the association was strongest for VPTB [adjusted hazard ratio (HR) per interquartile range increase in NDVI: 0.959, 95% confidence interval (CI): 0.942–0.976)], followed by MPTB (HR = 0.970, 95% CI: 0.962–0.978) and overall PTB (HR = 0.972, 95% CI: 0.966–0.978). For PTB, green space during the 3rd − 5th gestational months had stronger associations than those in the other time periods, especially during the 4th gestational month (NDVI 2000 m: HR = 0.970, 95% CI: 0.965–0.975). We identified consistent positive additive and multiplicative interactions between decreasing green space and higher air pollution. Conclusion This large study found that maternal exposure to residential green space was associated with decreased risk of PTB, MPTB, and VPTB, especially in the second trimester. There is a synergistic effect between low green space and high air pollution levels on PTB, indicating that increasing exposure to green space may be more beneficial for women with higher air pollution exposures during pregnancy.

Suggested Citation
Yi Sun, Paige Sheridan, Olivier Laurent, Jia Li, David A. Sacks, Heidi Fischer, Yang Qiu, Yu Jiang, Ilona S. Yim, Luo-Hua Jiang, John Molitor, Jiu-Chiuan Chen, Tarik Benmarhnia, Jean M. Lawrence and Jun Wu (2020) “Associations between green space and preterm birth: Windows of susceptibility and interaction with air pollution”, Environment International, 142, p. 105804. Available at: 10.1016/j.envint.2020.105804.

conference paper

Perspectives on Viable Alternative Fuels for Heavy-duty Vehicles in 2030s: Qualitative Interviews with California Fleet Operators

100th Transportation Research Board (TRB) Annual Meeting

Publication Date

January 1, 2021
Suggested Citation
Youngeun Bae, Craig R Rindt, Suman K. Mitra and Stephen G. Ritchie (2021) “Perspectives on Viable Alternative Fuels for Heavy-duty Vehicles in 2030s: Qualitative Interviews with California Fleet Operators”. 100th Transportation Research Board (TRB) Annual Meeting, Washington, DC.

published journal article

Jurisdictional Size and Residential Development: Are Large-Scale Local Governments More Receptive to Multifamily Housing?

Urban Affairs Review

Publication Date

May 1, 2022

Author(s)

Nicholas Marantz, Paul G. Lewis

Abstract

In the United States, particularly in high-cost urban areas, local resistance to multifamily housing development has been widely noted. In many metropolitan areas, legal authority over land-use regulation is assigned to jurisdictions that often are very small, and some scholars argue that this small-scale local control institutionalizes neighborhood-level opposition to new construction. Using census tracts as units of analysis, we assess the relationship between the population size of the city, county, or township that regulates a tract’s land use and the change in multifamily units between two recent waves of the American Community Survey (2008–2012 and 2014–2018). Results of regression analysis indicate that larger jurisdictional population size is indeed associated with increased multifamily construction. However, the relationship applies only for jurisdictions with populations exceeding 100,000 and decays at jurisdictional populations of more than 1 million. This nonlinearity may reflect quasi-monopolistic land-use control in the largest jurisdictions.

Suggested Citation
Nicholas J. Marantz and Paul G. Lewis (2022) “Jurisdictional Size and Residential Development: Are Large-Scale Local Governments More Receptive to Multifamily Housing?”, Urban Affairs Review, 58(3), pp. 732–766. Available at: 10.1177/1078087420988598.

published journal article

Using Section 15 Data: Adapting and Evaluating the Magnetic Tape Version for Statistical Analysis

Transportation Research Record

Publication Date

December 1, 1983

Author(s)

Suggested Citation
Gordon Fielding, Mary Brenner and Olivia de la Rocha (1983) “Using Section 15 Data: Adapting and Evaluating the Magnetic Tape Version for Statistical Analysis”, Transportation Research Record [Preprint], (961). Available at: https://onlinepubs.trb.org/Onlinepubs/trr/1984/961/961.pdf.

published journal article

The trip chaining activity of Sydney residents: A cross-section assessment by age group with a focus on seniors

Journal of Transport Geography

Publication Date

July 1, 2007

Author(s)

Thomas Golob, David A. Hensher

Abstract

In this paper, we use a pooled (2002-2004) cross-section of the Sydney travel survey, an annual continuous survey since 1997, to investigate the current profile of trip chaining travel activity of individuals in five-year groups, with a particular focus on those over 64 years old (i.e., seniors), given the aging of the population. Multiple correspondence analysis is used to establish causality of nonlinear and non-monotonic relationships between socioeconomic descriptors and measures of travel behavior (assessed as trip chains). A benchmark setting for today not only establishes the way in which the elderly currently `cope’ with the existing supply network and the available modal alternatives, given their needs, but also is useful in providing hints as to what might be the key emerging transport policy and planning challenges in the future to serve this growing and increasingly influential population sub-strata. The main policy finding is that after age 64, travel demand shifts from car driving (partly linked to loss of driving license, but partly through choice), to car passenger and then to public transport in complex trip chains, especially for singles and for all women.

Suggested Citation
Thomas F. Golob and David A. Hensher (2007) “The trip chaining activity of Sydney residents: A cross-section assessment by age group with a focus on seniors”, Journal of Transport Geography, 15(4), pp. 298–312. Available at: 10.1016/j.jtrangeo.2006.09.005.