53 research outputs found
Perception-aware Path Planning
In this paper, we give a double twist to the problem of planning under
uncertainty. State-of-the-art planners seek to minimize the localization
uncertainty by only considering the geometric structure of the scene. In this
paper, we argue that motion planning for vision-controlled robots should be
perception aware in that the robot should also favor texture-rich areas to
minimize the localization uncertainty during a goal-reaching task. Thus, we
describe how to optimally incorporate the photometric information (i.e.,
texture) of the scene, in addition to the the geometric one, to compute the
uncertainty of vision-based localization during path planning. To avoid the
caveats of feature-based localization systems (i.e., dependence on feature type
and user-defined thresholds), we use dense, direct methods. This allows us to
compute the localization uncertainty directly from the intensity values of
every pixel in the image. We also describe how to compute trajectories online,
considering also scenarios with no prior knowledge about the map. The proposed
framework is general and can easily be adapted to different robotic platforms
and scenarios. The effectiveness of our approach is demonstrated with extensive
experiments in both simulated and real-world environments using a
vision-controlled micro aerial vehicle.Comment: 16 pages, 20 figures, revised version. Conditionally accepted for
IEEE Transactions on Robotic
The Grotesque between Il Trovatore and La Traviata
The grotesque represents in a certain way the leading form of ugly since the latter became a too general concept to serve as an effective explicatory principle. Starting from Rosenkrantz’s conception of the grotesque, with a view to Kosik’s thesis of the decline of the tragic in favor of the grotesque during the nineteenth century, this article explores the presence and the modes of this aesthetic category in some of Verdi’s masterpieces: Il Trovatore and La Traviata
“Poesia” senza poesia: Franz Kafka, Maria Callas
The poetic world includes both poetry to be intended as a specific literary genre and a wider poeticity diffused in the artistic sphere and elsewhere. In this contribution I will consider from my own point of view two highly significant cases of the artistic world: Franz Kafka and Maria Callas. The great attraction that Kafka has exerted on me since the last years of high school has been triggered by passages mentioned by Remo Cantoni in his Introductions to The Castle, to the Diaries, to the Letters to Milena ecc. In the same years I used to attend Teatro alla Scala where Maria Callas performed. These events are apparently so distant from each other, but they are very close in my experience because of the intense poeticity that innervates both
Borgna: psichiatria fenomenologica e poesie
Questo saggio intende indagare il rapporto tra psichiatria fenomenologica e poesia nelle opere di Eugenio Borgna Le passioni fragili e La nostalgia ferita. Per lui il mondo estetico-artistico ha un valore cognitivo: la letteratura non è materia tanto della critica letteraria o di attenzioni filologiche; la letteratura è piuttosto fonte, testimonianza e corroborazione della conoscenza psichiatrica.The essay aims to investigate the connection between phenomenological psychiatry and poetry in the books on “fragile passions” and “nostalgia” of Eugenio Borgna. For him the aesthetic-artistic world has a cognitive value: the literature is not matter of literary criticism or philological attention; literature is rather source, testimony and corroboration of psychiatric knowledge
- …