A Bayesian framework for optimal motion planning with uncertainty

Modeling robot motion planning with uncertainty in a Bayesian framework leads to a computationally intractable stochastic control problem. We seek hypotheses that can justify a separate implementation of control, localization and planning. In the end, we reduce the stochastic control problem to path- planning in the extended space of poses x covariances; the transitions between states are modeled through the use of the Fisher information matrix. In this framework, we consider two problems: minimizing the execution time, and minimizing the final covariance, with an upper bound on the execution time. Two correct and complete algorithms are presented. The first is the direct extension of classical graph-search algorithms in the extended space. The second one is a back-projection algorithm: uncertainty constraints are propagated backward from the goal towards the start state

TOWARDS A DIGITAL ARCHAEOLOGICAL ARCHIVE: THE CASE STUDY OF THE ARTEFACTS OF THE AREA OF FORI IMPERIALI

Abstract. The following research aims to exploit the low-cost technologies, for the survey and mapping of historical archaeology in the Roman context. The main purposes of the research is to implement a large-scale survey campaign to understand the geometry and the materiality of the artefacts examined. Three-dimensional survey from photography, allows an immediate mapping of the materiality, of the degradation and of the architectural elements characteristic of the architecture in question. From the model it is possible to obtain an image that is faithful to the reality that can be the basis for developments in many disciplines such as, for example, in the restoration project, for the material analysis and the mapping of the degradation. The applications for this type of mapping are numerous, one of those proposed in this research concerns the virtual musealisation of historical artifacts. More and more in recent years, museums are exploiting the capabilities of three-dimensional modeling software of architectural elements to interactively convey architectural elements. A methodology of work that in recent archaeological excavations is not based solely on the didactic divulgation of the history of a place, but during the excavation phase on the mapping and cataloging of uncovered finds.</p

THE FARMHOUSES OF THE ROMAN COUNTRYSIDE: CENSUS AND CATALOG. THE CASE OF THE ESTATE OF FARNESIANA

Abstract. Rome is one of the cities with the largest green areas in the world, spread in villas and estates, within the municipal territory. But there is also a landscape triangle that radially branches out from the historic center, including a variety of unique situations (archaeological, historical – social, settlement, agriculture ...) in the world: the Caffarella and aqueducts Park. Inside, the Farnesiana estate, Capo di Bove, it's a witness of a widespread degradation process in the Roman countryside, which requires a gradual procedure of knowledge, cataloguing, restoration and re-functioning of the historical heritage. In this regard, the research is part of a larger study project of the Department of Architecture of Roma Tre, concerning farmhouses of the Roman countryside that deal with worrying degradation conditions and which require imminent intervention.</p

Petri Net Plans A framework for collaboration and coordination in multi-robot systems

Programming the behavior of multi-robot systems is a challenging task which has a key role in developing effective systems in many application domains. In this paper, we present Petri Net Plans (PNPs), a language based on Petri Nets (PNs), which allows for intuitive and effective robot and multi-robot behavior design. PNPs are very expressive and support a rich set of features that are critical to develop robotic applications, including sensing, interrupts and concurrency. As a central feature, PNPs allow for a formal analysis of plans based on standard PN tools. Moreover, PNPs are suitable for modeling multi-robot systems and the developed behaviors can be executed in a distributed setting, while preserving the properties of the modeled system. PNPs have been deployed in several robotic platforms in different application domains. In this paper, we report three case studies, which address complex single robot plans, coordination and collaboration

Bill color, not badge size, indicates testosterone-related information in house sparrows

The honesty of ornamental signals of quality is often argued to be enforced via costs associated with testosterone. It is still poorly understood, however, how seasonal variation of testosterone within individuals is related to the timing and extent of ornament development. Here, we studied inter- and intra-individual variability of plasma testosterone levels in a population of 150 captive male house sparrows (Passer domesticus) through the course of a full year. We further analyzed the relationship between plasma testosterone levels and two sexually dimorphic ornaments: badge size and bill coloration. Also, because of a known negative relation between molt and circulating testosterone levels, we analyzed the relationship between ornamentation and molt status during the fall. We found that testosterone levels increased towards the breeding season and decreased before the onset of annual molt. However, within individuals, relative testosterone titers demonstrated low repeatability between seasons. Plasma testosterone levels were not correlated with badge size in any season but were correlated strongly with bill coloration during all periods, except the breeding season when variation in bill color was low. Finally, we found that bill coloration strongly correlated with molt status during fall. Our results indicate that bill coloration, not badge size, is the best ornamental indicator of a “running average” of male testosterone in house sparrows and therefore the best potential indicator of qualities and/or behavioral strategies associated with testosterone

Is Promiscuity Associated with Enhanced Selection on MHC-DQα in Mice (genus Peromyscus)?

Reproductive behavior may play an important role in shaping selection on Major Histocompatibility Complex (MHC) genes. For example, the number of sexual partners that an individual has may affect exposure to sexually transmitted pathogens, with more partners leading to greater exposure and, hence, potentially greater selection for variation at MHC loci. To explore this hypothesis, we examined the strength of selection on exon 2 of the MHC-DQα locus in two species of Peromyscus. While the California mouse (P. californicus) is characterized by lifetime social and genetic monogamy, the deer mouse (P. maniculatus) is socially and genetically promiscuous; consistent with these differences in mating behavior, the diversity of bacteria present within the reproductive tracts of females is significantly greater for P. maniculatus. To test the prediction that more reproductive partners and exposure to a greater range of sexually transmitted pathogens are associated with enhanced diversifying selection on genes responsible for immune function, we compared patterns and levels of diversity at the Class II MHC-DQα locus in sympatric populations of P. maniculatus and P. californicus. Using likelihood based analyses, we show that selection is enhanced in the promiscuous P. maniculatus. This study is the first to compare the strength of selection in wild sympatric rodents with known differences in pathogen milieu

Ostriches Sleep like Platypuses

Mammals and birds engage in two distinct states of sleep, slow wave sleep (SWS) and rapid eye movement (REM) sleep. SWS is characterized by slow, high amplitude brain waves, while REM sleep is characterized by fast, low amplitude waves, known as activation, occurring with rapid eye movements and reduced muscle tone. However, monotremes (platypuses and echidnas), the most basal (or ‘ancient’) group of living mammals, show only a single sleep state that combines elements of SWS and REM sleep, suggesting that these states became temporally segregated in the common ancestor to marsupial and eutherian mammals. Whether sleep in basal birds resembles that of monotremes or other mammals and birds is unknown. Here, we provide the first description of brain activity during sleep in ostriches (Struthio camelus), a member of the most basal group of living birds. We found that the brain activity of sleeping ostriches is unique. Episodes of REM sleep were delineated by rapid eye movements, reduced muscle tone, and head movements, similar to those observed in other birds and mammals engaged in REM sleep; however, during REM sleep in ostriches, forebrain activity would flip between REM sleep-like activation and SWS-like slow waves, the latter reminiscent of sleep in the platypus. Moreover, the amount of REM sleep in ostriches is greater than in any other bird, just as in platypuses, which have more REM sleep than other mammals. These findings reveal a recurring sequence of steps in the evolution of sleep in which SWS and REM sleep arose from a single heterogeneous state that became temporally segregated into two distinct states. This common trajectory suggests that forebrain activation during REM sleep is an evolutionarily new feature, presumably involved in performing new sleep functions not found in more basal animals

Carotenoid-Based Colours Reflect the Stress Response in the Common Lizard

Under chronic stress, carotenoid-based colouration has often been shown to fade. However, the ecological and physiological mechanisms that govern colouration still remain largely unknown. Colour changes may be directly induced by the stressor (for example through reduced carotenoid intake) or due to the activation of the physiological stress response (PSR, e.g. due to increased blood corticosterone concentrations). Here, we tested whether blood corticosterone concentration affected carotenoid-based colouration, and whether a trade-off between colouration and PSR existed. Using the common lizard (Lacerta vivipara), we correlatively and experimentally showed that elevated blood corticosterone levels are associated with increased redness of the lizard's belly. In this study, the effects of corticosterone did not depend on carotenoid ingestion, indicating the absence of a trade-off between colouration and PSR for carotenoids. While carotenoid ingestion increased blood carotenoid concentration, colouration was not modified. This suggests that carotenoid-based colouration of common lizards is not severely limited by dietary carotenoid intake. Together with earlier studies, these findings suggest that the common lizard's carotenoid-based colouration may be a composite trait, consisting of fixed (e.g. genetic) and environmentally elements, the latter reflecting the lizard's PSR