Map format for mobile robot map-based autonomous navigation

This technical report defines the spatial representation and the map file format used in a mobile robot map-based autonomous navigation system designed to be deployed in urban areas. After a discussion about common requirements of spatial representations for map-based mobile robot autonomous navigation, a proposed environment model that fulfills previously discussed requirements is formally presented. An example of a map representing an outdoor area of an university campus of about 10000m2 is given to better illustrate the map format. Finally, the report shows simulation results on global localization and path planning using the proposed map

El Musterià de Serinyà

Les publicacions de Lumley i Ripoll de l'any 1965: «El Paleolítico Medio en Cataluña», i la de Lumley: «Le Paleolithique Inferieur et Moyen de MidiMediterraneen», t. II, 1971, en revisar i classificar el material descobert a les excavacions de Mollet l'any 1947, han despertat un extraordinari interés entre els prehistoriadors de les nostres comarques. Han obert el desitg d'investigar més a fons, d'adquirir noves dades que ens aclareixin la nostra prehistòria més remota

AntNetAlign: Ant colony optimization for network alignment

The code (and data) in this article has been certified as Reproducible by Code Ocean: (https://codeocean.com/). More information on the Reproducibility Badge Initiative is available at https://www.elsevier.com/physical-sciences-andengineering/computer-science/journalsNetwork Alignment (NA) is a hard optimization problem with important applications such as, for example, the identification of orthologous relationships between different proteins and of phylogenetic relationships between species. Given two (or more) networks, the goal is to find an alignment between them, that is, a mapping between their respective nodes such that the topological and functional structure is well preserved. Although the problem has received great interest in recent years, there is still a need to unify the different trends that have emerged from diverse research areas. In this paper, we introduce AntNetAlign, an Ant Colony Optimization (ACO) approach for solving the problem. The proposed approach makes use of similarity information extracted from the input networks to guide the construction process. Combined with an improvement measure that depends on the current construction state, it is able to optimize any of the three main topological quality measures. We provide an extensive experimental evaluation using real-world instances that range from Protein–Protein Interaction (PPI) networks to Social Networks. Results show that our method outperforms other state-of-the-art approaches in two out of three of the tested scores within a reasonable amount of time, specially in the important score. Moreover, it is able to obtain near-optimal results when aligning networks with themselves. Furthermore, in larger instances, our algorithm was still able to compete with the best performing method in this regard.Christian Blum and Guillem Rodríguez Corominas, Spain were supported by grants PID2019-104156GB-I00 and TED2021- 129319B-I00 funded by MCIN/AEI/10.13039/501100011033. Maria J. Blesa acknowledges support from AEI, Spain under grant PID2020-112581GB-C21 (MOTION) and the Catalan Agency for Management of University and Research Grants (AGAUR), Spain under grant 2017-SGR-786 (ALBCOM).Peer ReviewedPostprint (published version

A biased random key genetic algorithm for the weighted independent domination problem

This work deals with an NP-hard problem in graphs known as the weighted independent domination problem. We propose a biased random key genetic algorithm for solving this problem. The most important part of the proposed algorithm is a decoder that translates any vector of real-values into valid solutions to the tackled problem. The experimental results, in comparison to a state-of-the-art population-based iterated greedy algorithm from the literature, show that our proposed approach has advantages over the state-of-the-art algorithm in the context of the more dense graphs in which edges have higher weights than vertices.Peer ReviewedPostprint (author's final draft

AntNetAlign: A software package for network alignment

In this paper we introduce AntNetAlign, an open-source tool (written in C++) that implements an Ant Colony Optimization (ACO) for solving the Network Alignment (NA) problem, a well-known hard optimization problem with important applications in different areas, such as biology or social networks. Specifically, given two input networks, the tool finds an alignment between them (i.e., a mapping between the respective nodes) that optimizes one out of the three main topological measures. Additionally, it can make use of user-defined pairwise similarities between nodes during its construction phase, allowing for the use of more application-dependent information in order to increase its performance. Results show that AntNetAlign outperforms other state-of-the-art algorithms in two out of the three aforementioned topological scores within a reasonable amount of time, and is able to achieve competitive results in the context of larger instances (Rodríguez Corominas et al., 2023). Furthermore, a new version of the algorithm, which makes use of Negative Learning, was able to further improve these results, specially in the EC score (Corominas et al., 2022).Guillem Rodríguez Corominas gets support from the Department of Research and Universities of the Government of Catalonia by means of an ESF-founded pre-doctoral grant of the Catalan Agency for Management of University and Research Grants (AGAUR, Catalonia, Spain), under ref. number 2022 FI_B 00903. Christian Blum was supported by two grants funded by MCIN/AEI/10.13039/501100011033: AEI, Spain PID2019-104156GB-I00, and TED2021-129319B-I00. Maria J. Blesa acknowledges support from AEI, Spain under grant PID-2020-112581GB-C21 (MOTION) and the Catalan Agency for Management of University and Research Grants (AGAUR , Catalonia, Spain), under grant 2021-SGR-01419 (ALBCOM).Peer ReviewedPostprint (published version

Políticas de implantación de la TDT local en España (2005-2006) : los casos de las Comunidades Autónomas de Islas Baleares, Madrid, Región de Murcia, Comunidad Valenciana, Galicia, Cataluña y Aragón

Este texto describe y analiza las políticas de implantación de la TDT local que se están llevando a cabo en las siete comunidades autónomas españolas que en diciembre de 2006 tenían total o casi totalmente configurado el nuevo mapa de televisión local, al haber definido cuántos y cuáles son los operadores públicos y privados presentes su territorio: Islas Baleares, Madrid, Región de Murcia, Comunidad Valenciana, Galicia, Cataluña y Aragón.This paper describes and analyzes the different public policies addressed to the implementation of local Digital Terrestrial Television (DTT) that have been carried out at the regional-local level, in seven Spanish autonomous communities that by December 2006 had totally or almost shaped their new local television map. The paper explores how many and which public and private services were in place in these seven autonomous communities: Balearic Islands, Madrid, Region of Murcia, Valencia Community, Galicia, Catalonia, and Aragon.Este texto descreve e analisa as políticas de implementação local da Televisão Digital Terrestre (TDT), a partir do estudo da implantação que tem decorrido em sete comunidades autonómicas espanholas - Ilhas Baleares, Madrid, Região de Múrcia, Comunidade Valenciana, Galiza, Catalunha e Aragão - as quais contribuíram para configurar o mapa da televisão digital local existente em Espanha até Dezembro de 2006

Polítiques públiques de ràdio i televisió local en l'entorn digital a Espanya (1997-2004)

Comunicació elaborada en el marc de la recerca "La comunicación local en el entorno digital en España. Transformaciones del sistema audiovisual local", finançada dins del Plan Nacional de I+D+I (2000+2003) (BSO2003- 04863)The communication analyses the main public policies that, within the framework of digitalisation, are undertaken for local broadcasting between 1997, starting point for terrestrial digital broadcasting, and 2004 in Spain on the basis of historical background and development of radio and television. In relation to radio, DAB licenses and the "local" concept involved by regulation are described. On the skyline, a new digital standard is appearing: DRM (Digital Radio Mondiale), recently incorporated into Spanish radio regulation via Law 62/2003, of 30th December. As for television, the communication describes and analyses the evolution of Spanish government's proposal for digitalising local television, from the initial position (art. 3 of annex of the RD 2169/1998, of 9th Octobre) to the passing of the National Technical Plan of Digital Local Television (RD 439/2004, 12th March) and the subsequent change via RD 2268/2004, 3rd Decembe