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Time-varying formation control problems for high-order linear time-invariant swarm systems with switching interaction topologies are investigated. A general formation control protocol is proposed firstly. Then using a consensus based approach, necessary and sufficient conditions for swarm systems with switching interaction topologies to achieve a given time-varying formation are presented. An explicit expression of the time-varying formation reference function is given. It is revealed that the switching interaction topologies have no effect on the formation reference function and the motion modes of the formation reference can be specified. Furthermore, necessary and sufficient conditions for formation feasibility are presented. An approach to expand the feasible formation set is given and an algorithm to design the protocol for swarm systems with switching interaction topologies to achieve time-varying formations is provided. Finally, numerical simulations are presented to demonstrate theoretical results.

Psychometric consumer reported outcome measures (CROM), which aim to infer latent variables (e.g., psychological dependence) from self-report measurement instruments, play a key role in data collection in research on tobacco- and nicotine-containing products (TNPs). While guidelines are available for patient reported outcomes (PRO) to be used in health studies, no comprehensive guidelines exist for Psychometric CROM which consider specifics in the field of TNP research. The proposed guidelines aim to fill the current gap with the objective of enhancing the quality of empirical research on TNPs. The objective is to develop guidelines for researchers with respect to the selection, development, modification, and implementation of Psychometric CROM in TNP research. The guidelines were developed by a working group comprised of CORESTA (Cooperation Centre for Scientific Research Relative to Tobacco) CROM Task Force members by adopting an iterative and consensus driven approach. This involved reviewing relevant peer-reviewed publications, publicly available guidelines, and best practices published by prominent organizations from related fields and seeking active collaboration with subject matter experts representing public health, academia, and the tobacco industry. The draft guidelines were presented and discussed at various health and tobacco research conferences. Based on feedback and suggestions provided, the guidelines were continuously updated and revised. The resulting guidelines contain four sections, guiding the reader from construct definition to application and interpretation of Psychometric CROM. Emphasis is placed on crucial initial research stages, such as defining the ideal CROM characteristics based on the construct definition, the context of measurement, and the objectives of the study, to facilitate the researcher’s determination as to whether use of an existing CROM would be an appropriate choice for the study, or whether modifying an existing CROM or developing a new CROM would be warranted. While the guidelines provide direction for researchers who intend to use Psychometric CROM in their research, they also flag key measurement considerations and raise awareness of psychometric issues with the goal of advancing Psychometric CROM measurement science. Grounded in psychometric principles, these guidelines present best practices and provide guidance on the appropriate identification, development, modification, and application of Psychometric CROM in TNP research in a way that is consistent with good measurement practices. With the dissemination of the guidelines, we expect a more informed selection of CROM, a better-founded modification of existing CROM and development of new CROM, improved integration of CROM into TNP research and ultimately a better harmonization of consumer-reported measurement in the field of TNP research.

Market-based methods have received significant attention for solving the multi-robot task allocation problem. They have been used in a variety of multi-robot scenarios, such as patrolling, exploration, pick-and-delivery, and many more. In consequence, the literature on market-based methods is thriving, with many innovative concepts and complex scenarios studied. However, there has been no survey of this literature in the recent years. In this paper, we apply a rigorous systematic literature review method, designed to produce transparent and reproducible meta-analyses, in order to address the need for a survey of the literature of market-based methods applied to the multi-robot task allocation problem. We provide researchers with an introduction to market-based methods, a comprehensive classification of market-based methods, addressing both market and communication schemes, an analysis of the comparative studies on market-based methods, and a discussion of research trends.

Autonomous/unmanned driving is the major state-of-the-art step that has a potential to fundamentally transform the mobility of individuals and goods. At present, most of the developments target standalone autonomous vehicles, which can sense the surroundings and control the vehicle based on this perception, with limited or no driver intervention. This paper focuses on the next step in autonomous vehicle research, which is the collaboration between autonomous vehicles, mainly vehicle formation control or vehicle platooning. To gain a deeper understanding in this area, a large number of the existing published papers have been reviewed systemically. In other words, many distributed and decentralized approaches of vehicle formation control are studied and their implementations are discussed. Finally, both technical and implementation challenges for formation control are summarized.

The product–service system (PSS) is a strategic design approach proposed to address sustainability in socio-economic systems amidst rapid industrialization and transition. Evaluating the concept design of a PSS is a crucial and initial step prior to implementation. This study presents an innovative framework for evaluating concept designs of sustainable PSS based on a well-defined evaluation index system via integrating quality function deployment (QFD) and the technique for order preference by similarity to ideal solution (TOPSIS) while accommodating extended basic uncertain linguistic information (EBULI). Specifically, a QFD-based framework is first developed to identify the requirements of various stakeholders and then to establish the multi-dimensional criteria for evaluating sustainable PSS. Then, a House of Quality-based relationship matrix is introduced to determine the weights of criteria more accurately. Further, an adaptive consensus-reaching process method based on an expert weighting optimization model is proposed to ensure a collective outputs recognized by multiple involved stakeholders. Finally, an improved EBULI-based TOPSIS method is presented to determine the priority ranking of alternative sustainable PSS concepts. A case study on a car-sharing PSS project demonstrates the viability and effectiveness of the proposed QFD–TOPSIS integrated approach under EBULI settings. The alternative PSS concept design, which demonstrates relatively good performance in criteria of high importance, is selected as the most suitable option. Moreover, relevant comparative and sensitivity analyses reveal that the proposed approach exhibits superiorities in appropriate criteria elicitation, accurate weights determination, and high consensus ranking outputs.

Background Ecological models are currently the most used approaches to classify and conceptualise determinants of sedentary behaviour, but these approaches are limited in their ability to capture the complexity of and interplay between determinants. The aim of the project described here was to develop a transdisciplinary dynamic framework, grounded in a system-based approach, for research on determinants of sedentary behaviour across the life span and intervention and policy planning and evaluation. Methods A comprehensive concept mapping approach was used to develop the Systems Of Sedentary behaviours (SOS) framework, involving four main phases: (1) preparation, (2) generation of statements, (3) structuring (sorting and ranking), and (4) analysis and interpretation. The first two phases were undertaken between December 2013 and February 2015 by the DEDIPAC KH team (DEterminants of DIet and Physical Activity Knowledge Hub). The last two phases were completed during a two-day consensus meeting in June 2015. Results During the first phase, 550 factors regarding sedentary behaviour were listed across three age groups (i.e., youths, adults and older adults), which were reduced to a final list of 190 life course factors in phase 2 used during the consensus meeting. In total, 69 international delegates, seven invited experts and one concept mapping consultant attended the consensus meeting. The final framework obtained during that meeting consisted of six clusters of determinants: Physical Health and Wellbeing (71 % consensus), Social and Cultural Context (59 % consensus), Built and Natural Environment (65 % consensus), Psychology and Behaviour (80 % consensus), Politics and Economics (78 % consensus), and Institutional and Home Settings (78 % consensus). Conducting studies on Institutional Settings was ranked as the first research priority. The view that this framework captures a system-based map of determinants of sedentary behaviour was expressed by 89 % of the participants. Conclusion Through an international transdisciplinary consensus process, the SOS framework was developed for the determinants of sedentary behaviour through the life course. Investigating the influence of Institutional and Home Settings was deemed to be the most important area of research to focus on at present and potentially the most modifiable. The SOS framework can be used as an important tool to prioritise future research and to develop policies to reduce sedentary time.

Evaluating health promotion interventions often involves assessing multiple and multidimensional (effectiveness, process, economic) outcomes, which presents key methodological challenges. These include an increased risk of type I errors, complex sample size calculations, and difficulties interpreting conflicting results. Despite these challenges, there is no formal guidance for selecting, analysing, and interpreting multiple and multidimensional outcomes to determine intervention success. This knowledge-building workshop convenes experts in public health and research methodology to collaboratively refine methodological recommendations for multiple outcome evaluations in health promotion interventions. Through structured discussion and consensus-building activities, participants will critically examine preliminary proposals and co-produce refined guidance to support researchers, funders, and decision-makers. The workshop will be delivered in two parts: Part 1: Presentation of preliminary findings and methodological proposals (15 minutes). Findings from a systematic review and expert consultations on multiple outcome evaluations for health promotion interventions will be presented to participants. Five preliminary proposals will be introduced: (1) developing core outcome sets tailored to health promotion interventions, (2) selecting multidimensional outcomes through multidisciplinary steering committees, (3) applying multiple criteria decision analysis and consensus-driven methods for transparent outcome combination, (4) strengthening methodological reporting throughout intervention development and evaluation, and (5) increasing complex intervention experts’ involvement in ethics, funding, and evaluation committees to strengthen evidence recognition. Part 2: Interactive group discussion and co-refinement of methodological recommendations (45 minutes). Participants will be guided through structured discussions of each proposal, assessing their relevance and feasibility within real-world research contexts. Participants will then collaboratively refine proposals into recommendations, drawing on their expertise and experiences. The workshop will aim to reach a collective validation of the final set of methodological recommendations. This workshop will support the development of evidence-informed, consensus-based methodological guidance for multiple outcome evaluations in health promotion. It will foster opportunities for future collaborations around methodological research and lay the foundation for an enduring network of researchers, institutions, and practitioners dedicated to advancing high-quality evidence generation and evidence-based decision-making in health promotion. Key messages • Participants will refine and co-develop evidence-based methodological recommendations to guide multiple and multidimensional outcome evaluations in health promotion interventions. • The workshop will build knowledge and capacity in transparent and rigorous evaluation methods, supporting high-quality evidence generation and evidence-based decision-making for health.

To report the development and validation of an assessment approach for competency-based nursing education in low-income settings Adopting a competency-based curriculum has been linked with the resource-intensive, programmatic assessment approach. However, implementing this approach in low-income contexts has challenges. Nursing education institutions in low-income contexts reported difficulties implementing programmatic assessment. These challenges threaten the outcomes of the assessment innovation, highlighting the need to develop a tailored approach to assessment for these contexts. A modified e-Delphi study The modified e-Delphi was used to refine and validate a proposed assessment approach following the recommendations of Conducting and REporting of DElphi Studies. Nine health professions education experts, with qualifications or publications in educational assessment, or curriculum design and development, were purposively sampled to validate the proposed assessment approach. Consensus was reached at ≥ 70 % after two iterative rounds. Items included in the two rounds were the six domains which described organisational contexts in terms of the people, the culture and technological infrastructure. Eleven out of 47 items in round one did not reach the set ³ 70 % consensus. The 11 items were refined and sent for round two. A total of 46 items were included in the final approach. The results report the developed assessment approach for competency-based nursing education in low-income settings. A contextually relevant assessment approach should be underpinned by empirical evidence and knowledge of the context. Nursing institutions should support faculty development in assessment to enhance the implementation and sustainability of the assessment approach. •Inclusion of panellists with extensive experience ensured the validated assessment approach was contextually relevant.•The study can be reproducible in similar contexts following the standard methodology of implementation.•Successful implementation of the developed assessment approach should include stakeholders at all decision-making levels.

Background Suicide is a serious public health concern globally. Many suicide deaths occur in low- and-middle-income countries such as Pakistan, where the stigma related to mental health and suicidal behaviour is high, help-seeking is low, and availability of trained mental health professionals is limited. Community-based suicide prevention programmes such as suicide prevention first-aid guidelines are recognised as cost-effective approaches to strengthen the motivation of local partners within communities and lay public to act. However, there is no such evidence from Pakistan. Therefore, this study aimed to co-develop suicide prevention guidelines for gatekeepers to assist individuals in Pakistan experiencing suicidal ideation or behaviours. This will not only help to prevent or deter suicidal tendency among those experiencing suicidal thought/behaviours but also the stakeholders, especially mental health professionals. Methods This Delphi expert consensus study was conducted in two phases: (i) development of a semi-structured questionnaire aimed to develop suicide prevention guidelines. This involved compilation of statements from existing guidelines developed for similar context, followed by a one-day multi-disciplinary stakeholder consultation to review and contextualise each statement. The questionnaire with final statement was translated into Urdu. (ii) Phase 2 involved the Delphi process to co-produce contextually relevant consensus-based set of suicide prevention guidelines endorsed by a diverse panel of experts including expert by profession and expert by experience. Statements describing suicide prevention guideline were rated by the participants in two Delphi rounds, using in-person and online approaches. Results A total of 45 experts by profession and 27 lived experience experts from across Pakistan completed both rounds of Delphi. The initial compilation from existing guidelines led to a total of 460 statements, which increased to 564 statements after stakeholder consultation, to be rated in Round-1 of the Delphi. The total number of items describing guidelines accepted at Round-1 and 2 were 478. The statements are organised into eleven thematic sections, including the identification of suicide risk and its severity, initial support for individuals at risk, communication strategies for engaging with suicidal individuals, safety planning, and confidentiality protocols. Stakeholders recommended the inclusion of context-specific guidelines, such as recognising culturally relevant warning signs (e.g., verbal or behavioral expressions of feeling unloved or being forced into an unwanted marriage), advising first responders to adopt a friendly and non-judgmental tone, and assessing the urgency of intervention based on the individual’s mental health status. Conclusion The guidelines developed as result of this mixed-method research has successfully engaged stakeholder to contextualise guidelines for Pakistan such as by adding culturally appropriate examples of warning signs, methods used for self-harm and suicide, and reasons of self-harm etc. and Delphi survey to reach consensus. These guidelines co-adapted through consultations with experts by profession and experience will inform much needed public health initiatives to increase awareness and education and build capacity in a wide range of stakeholders across sectors for suicide prevention in Pakistan.

The Institute of Medicine (IOM) standards for guideline development have had unintended negative consequences. A more efficient approach is desirable. To determine whether a modified Delphi process early during guideline development discriminates recommendations that should be informed by a systematic review from those that can be based upon expert consensus. The same questions addressed by IOM-compliant pulmonary or critical care guidelines were addressed by expert panels using a modified Delphi process, termed the Convergence of Opinion on Recommendations and Evidence (CORE) process. The resulting recommendations were compared. Concordance of the course of action, strength of recommendation, and quality of evidence, as well as the duration of recommendation development, were measured. When 50% agreement was required to make a recommendation, all questions yielded recommendations, and the recommended courses of action were 89.6% concordant. When 70% agreement was required, 17.9% of questions did not yield recommendations, but for those that did, the recommended courses of action were 98.2% concordant. The time to completion was shorter for the CORE process (median, 19.3 vs. 1,309.0 d; P = 0.0002). We propose the CORE process as an early step in guideline creation. Questions for which 70% agreement on a recommendation cannot be achieved should go through an IOM-compliant process; however, questions for which 70% agreement on a recommendation can be achieved can be accepted, avoiding a lengthy systematic review.