CAT-RRT: Motion Planning that Admits Contact One Link at a Time

Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leaves little room for robots to engage in contact with an object, as is often necessary when operating in densely cluttered spaces. In this work, we propose an alternative method that considers contact states as high-cost states that the robot should avoid but can traverse if necessary to complete a task. More specifically, we introduce Contact Admissible Transition-based Rapidly exploring Random Trees (CAT-RRT), a planner that uses a novel per-link cost heuristic to find a path by traversing high-cost obstacle regions. Through extensive testing, we find that state-of-the-art optimization planners tend to over-explore low-cost states, which leads to slow and inefficient convergence to contact regions. Conversely, CAT-RRT searches both low and high-cost regions simultaneously with an adaptive thresholding mechanism carried out at each robot link. This leads to paths with a balance between efficiency, path length, and contact cost

The nature of economic development and the economic development of nature

Contemporary models of growth and development are founded on a category error: they ignore nature as a form of productive capital. Using as backdrop two recent books on the Indian economy that are representative of the prevailing orthodoxy, I review and in part extend an emerging literature that integrates development and environmental thinking. Contributors to the literature have reworked the economics of the household, communities, and other non-market institutions, reframed national accounting, reconstructed the theory of macro-economic development and public and trade policy, and revised the theory of collective action. In this paper I focus on a small part of the literature: economic evaluation. I develop the notion of sustainable development and construct a unified language for sustainability and policy analyses. I show that by economic growth we should mean growth in wealth - which is the social worth of an economy's entire set of capital assets - not growth in GDP nor the many ad hoc indicators of human development that have been proposed in recent years. The concept of wealth invites us to extend the notion of capital assets and the idea of investment well beyond conventional usage. I also show that by sustainable development we should mean development in which wealth (per head) adjusted for its distribution does not decline. This has radical implications for the way national accounts are prepared and interpreted. I then provide an account of a recent publication that has put the theory to work by studying the composition of wealth accumulation in contemporary India. Although much attention was given by the study's authors to the measurement of natural capital, due to a paucity of data the value of natural capital is acknowledged by them to be under-estimated, in all probability by a large margin. The study reveals that the entire architecture of contemporary development thinking is stacked against nature. These are still early days in the measurement of the wealth of nations, but both theory and the few empirical studies we now have at our disposal should substantially alter the way we interpret the progress and regress of nations

Governance and Development in Karnataka: A Symposium in Economic and Political Weekly

WP 2006-15 July 2006Governance and the “Karnataka Model of Development” Gopal Kadekodi, Ravi Kanbur and Vijayendra Rao; Change in Karnataka Over the Last Generation: Villages and the Wider Context James Manor; The Political Economy of Gram Panchayats in South India Timothy Besley, Rohini Pande and Vijayendra Rao; Dynamics of Local Governance in Karnataka Kripa Ananthpur; Federalism, Urban Decentralization and Citizen Participation Ramesh Ramanathan; Systematic Hierarchies and Systemic Failures: Gender and Health Inequities in Koppal District Gita Sen, Aditi Iyer and Asha George; To Be or Not to Be: Problems in Locating Women in Public Policy Devaki Jai

A Welfare Approach to Energy Pricing: A Case Study for India

Because oil crises or other supply constraints distort energy production and demand management, energy pricing remains an important policy instrument of economic management. Moreover, for many developing countries, the problem of energy management includes the pricing of energy products within a framework of planning, as well as questions of supply. In many countries energy production and distribution are now publicly managed. Such public operations have to account for both efficiency in production and equity in distribution. The pricing of energy inputs thus emerges as a key planning parameter.