Skid-steered wheel mobile robots (SSWMRs) operate in a variety of outdoor environments exhibiting motion behaviors dominated by the effects of complex wheel-ground interactions. Characterizing these interactions is crucial both from the immediate robot autonomy perspective (for motion prediction and control) as well as a long-term predictive maintenance and diagnostics perspective. An ideal solution entails capturing precise state measurements for decisions and controls, which is considerably difficult, especially in increasingly unstructured outdoor regimes of operations for these robots. In this milieu, a framework to identify pre-determined discrete modes of operation can considerably simplify the motion model identification process. To this end, we propose an interactive multiple model (IMM) based filtering framework to probabilistically identify predefined robot operation modes that could arise due to traversal in different terrains or loss of wheel traction.

Model-based recursive partitioning (MOB) is a semi-parametric statistical approach allowing the identification of subgroups that can be combined with a broad range of outcome measures including continuous time-to-event outcomes. When time is measured on a discrete scale, methods and models need to account for this discreetness as otherwise subgroups might be spurious and effects biased. The test underlying the splitting criterion of MOB, the M-fluctuation test, assumes independent observations. However, for fitting discrete time-to-event models the data matrix has to be modified resulting in an augmented data matrix violating the independence assumption. We propose MOB for discrete Survival data (MOB-dS) which controls the type I error rate of the test used for data splitting and therefore the rate of identifying subgroups although none is present. MOB-ds uses a permutation approach accounting for dependencies in the augmented time-to-event data to obtain the distribution under the null hypothesis of no subgroups being present. Through simulations we investigate the type I error rate of the new MOB-dS and the standard MOB for different patterns of survival curves and event rates. We find that the type I error rates of the test is well controlled for MOB-dS, but observe some considerable inflations of the error rate for MOB. To illustrate the proposed methods, MOB-dS is applied to data on unemployment duration.

Joint Models for longitudinal and time-to-event data have gained a lot of attention in the last few years as they are a helpful technique to approach common a data structure in clinical studies where longitudinal outcomes are recorded alongside event times. Those two processes are often linked and the two outcomes should thus be modeled jointly in order to prevent the potential bias introduced by independent modelling. Commonly, joint models are estimated in likelihood based expectation maximization or Bayesian approaches using frameworks where variable selection is problematic and which do not immediately work for high-dimensional data. In this paper, we propose a boosting algorithm tackling these challenges by being able to simultaneously estimate predictors for joint models and automatically select the most influential variables even in high-dimensional data situations. We analyse the performance of the new algorithm in a simulation study and apply it to the Danish cystic fibrosis registry which collects longitudinal lung function data on patients with cystic fibrosis together with data regarding the onset of pulmonary infections. This is the first approach to combine state-of-the art algorithms from the field of machine-learning with the model class of joint models, providing a fully data-driven mechanism to select variables and predictor effects in a unified framework of boosting joint models.

We present a new algorithm for boosting generalized additive models for location, scale and shape (GAMLSS) that allows to incorporate stability selection, an increasingly popular way to obtain stable sets of covariates while controlling the per-family error rate (PFER). The model is fitted repeatedly to subsampled data and variables with high selection frequencies are extracted. To apply stability selection to boosted GAMLSS, we develop a new "noncyclical" fitting algorithm that incorporates an additional selection step of the best-fitting distribution parameter in each iteration. This new algorithms has the additional advantage that optimizing the tuning parameters of boosting is reduced from a multi-dimensional to a one-dimensional problem with vastly decreased complexity. The performance of the novel algorithm is evaluated in an extensive simulation study. We apply this new algorithm to a study to estimate abundance of common eider in Massachusetts, USA, featuring excess zeros, overdispersion, non-linearity and spatio-temporal structures. Eider abundance is estimated via boosted GAMLSS, allowing both mean and overdispersion to be regressed on covariates. Stability selection is used to obtain a sparse set of stable predictors.

Random survival forests (RSF) are a powerful method for risk prediction of right-censored outcomes in biomedical research. RSF use the log-rank split criterion to form an ensemble of survival trees. The most common approach to evaluate the prediction accuracy of a RSF model is Harrell's concordance index for survival data ('C index'). Conceptually, this strategy implies that the split criterion in RSF is different from the evaluation criterion of interest. This discrepancy can be overcome by using Harrell's C for both node splitting and evaluation. We compare the difference between the two split criteria analytically and in simulation studies with respect to the preference of more unbalanced splits, termed end-cut preference (ECP). Specifically, we show that the log-rank statistic has a stronger ECP compared to the C index. In simulation studies and with the help of two medical data sets we demonstrate that the accuracy of RSF predictions, as measured by Harrell's C, can be improved if the log-rank statistic is replaced by the C index for node splitting. This is especially true in situations where the censoring rate or the fraction of informative continuous predictor variables is high. Conversely, log-rank splitting is preferable in noisy scenarios. Both C-based and log-rank splitting are implemented in the R~package ranger. We recommend Harrell's C as split criterion for use in smaller scale clinical studies and the log-rank split criterion for use in large-scale 'omics' studies.