Hierarchical D ∗ algorithm with materialization of costs for robot path planning

In this paper a new hierarchical extension of the D ∗ algorithm for robot path planning is introduced. The hierarchical D ∗ algorithm uses a down-top strategy and a set of precalculated paths (materialization of path costs) in order to improve performance. This on-line path planning algorithm allows optimality and specially lower computational time. H-Graphs (hierarchical graphs) are modified and adapted to support on-line path planning with materialization of costs and multiple hierarchical levels. Traditional on-line robot path planning focused in horizontal spaces is also extended to vertical and interbuilding spaces. Some experimental results are showed and compared to other path planning algorithms

Prospects for radio detection of extremely high energy cosmic rays and neutrinos in the Moon

We explore the feasibility of using the Moon as a detector of extremely high energy (>10^19 eV) cosmic rays and neutrinos. The idea is to use the existing radiotelescopes on Earth to look for short pulses of Cherenkov radiation in the GHz range emitted by showers induced just below the surface of the Moon when cosmic rays or neutrinos strike it. We estimate the energy threshold of the technique and the effective aperture and volume of the Moon for this detection. We apply our calculation to obtain the expected event rates from the observed cosmic ray flux and several representative theoretical neutrino fluxes.Comment: 11 pages, Latex, aipproc.sty and epsfig.sty. 5 ps figures. Talk presented by J. Alvarez-Muniz at the 1st International Workshop on Radio Detection of High Energy Particles (RADHEP-2000), UCLA, November 2000. Some typos corrected. Fig.4 caption extende

A Hierarchical Extension of the D ∗ Algorithm

In this paper a contribution to the practice of path planning using a new hierarchical extension of the D ∗ algorithm is introduced. A hierarchical graph is stratified into several abstraction levels and used to model environments for path planning. The hierarchical D∗ algorithm uses a downtop strategy and a set of pre-calculated trajectories in order to improve performance. This allows optimality and specially lower computational time. It is experimentally proved how hierarchical search algorithms and on-line path planning algorithms based on topological abstractions can be combined successfully

Ecological sustainability and urban form

One controversial idea present in the debate on urban sustainability is that urban sprawl is an ecological stressing problem. We have tested this popular assumption by measuring the ecological footprint of commuting and housing of the 163 municipalities of the Barcelona Metropolitan Region and by relating the estimated values with residential density and accessibility, the fundamental determinant of residential density according to the Monocentric City Model.Ecological footprint, Barcelona, transportation system, urban sprawl

The spatial effect of intra-metropolitan agglomeration economies

This study deals with the role of spatial accessibility to agglomeration economies in the change in spatial structure of industrial employment for the case of the Barcelona Metropolitan Region of Barcelona (BMR). Using the growth in gross density of municipal employment between 1986 and 1996 for seven manufacturing industries as an indicator of changes in the spatial structure of employment, an exploration is made of the spatial impact of agglomeration economies operating on a local scale – the municipality and three areas 5, 8 and 12 kilometres away surrounding the municipality itself - , agglomeration economies emerging from CBD and the main specialised subcentres in the region, and the network economies associated with the total jobs in the region, access to which depends on the distance from the main transport infrastructuresAgglomeration economies, industrial employment growth, intra-metropolitan localisation, spatial structure.

Aspectos intertextuales entre la literatura española y la italiana

La conferencia se ha centrado en los momentos más relevantes de las relaciones culturales entre Italia y España en diferentes épocas, desde la Corte de Aragón en Nápoles al reinado de Carlos V llegando hasta el siglo XX, insistiendo especialmente en aquellos autores y obras de la literaturaitaliana que presentan una mayor intertextualidad con la literatura española del Siglo de Oro.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

«Esserci»/«essere» e «haber»/«estar» : problemi contrastivi e proposte didattiche*

Based on observations on history of the language, this paper systematizes the correspondences and divergences between the Italian and Spanish uses of the verbs «esserci» / «essere» and «haber» / «estar», illustrated through literary and non-literary texts and an appendix with proposals for learning exercises