The politics according to Ibn Khaldoun

El historiador tunecino de origen andaluz Abderrahmán b. Jaldún (1332-1406) supone una de las grandes contribuciones del Mundo Árabe medieval a la cultura universal. En su "Muqaddima" o "Introducción a la historia" se presenta un exhaustivo análisis de las colectividades humanas. La organización política de la sociedad fue una de sus preocupaciones. En un capítulo de su obra se ocupa específicamente, sin embargo, de cual ha de ser el comportamiento de las personas dedicadas a la política, transcribiendo una epístola oriental del siglo IX.The Tunisian historian, with an andalusian origin, Abderrahman b. Khaldun (1332-1406) represents one of the great contributions of the World medieval Arabic to universal culture. In his "Muqaddima" or "Introduction to the history" presents a comprehensive analysis of human communities. The political organization of human society was one of his concerns. In a chapter of his book deals specifically however, which must be the behavior of people engaged in politics, transcribing an easter letter of ninth century

La política según Ibn Jaldún

El historiador tunecino de origen andaluz Abderrahmán b. Jaldún (1332-1406) supone una de las grandes conrnbuctoncs del Mundo Árabe medieval a la cultura universal. En su Muqaddima o Introducción a la hirtoria se presenta un exhaustivo análisis de las colectividades humanas. La orgamzación política de la sociedad fue una de sus preocupaciones En un capitulo de su obra se ocupa espccificamcnte, sin embargo , de cual ha de ser el comportamiento de las personas dedeicadas a la política, transcribiendo una epístola oriental del siglo I

Diversidad, religión y política durante la Copa del Mundo de Rusia 2018

El presente artículo tratará de poner de manifiesto la concurrencia en la fase final de la Copa del Mundo de Rusia 2018 de factores, derivados de la diversidad y el pluralismo de la sociedad actual, como la religión y la política. Para ello se hace imprescindible examinar los diferentes sucesos, de una y otra índole, acaecidos en la fase final de la Copa del Mundo y su tratamiento en función de las normas establecidas por la FIFA. Asimismo se hace necesario abordar las soluciones otorgadas por la propia FIFA en virtud de la referida normativa y la conveniencia de las mismasThe present article will try to highlight the concurrence in the final phase of the World Cup of Russia 2018, factors derived from the diversity and pluralism of today's society, such as religion and politics. To do so, it is essential to examine the different events, of one kind or another, that took place during the final phase of the World Cup and its treatment according to the rules established by FIFA. It is also necessary to address the solutions granted by FIFA itself under the aforementioned regulations, as well as the convenience of the

Libertad de expresión y religión: referencia a la jurisprudencia del Tribunal Europeo de Derechos Humanos

El presente artículo trata de abordar la problemática derivada del conflicto que actualmente se produce entre la libertad de expresión y la religión. En este sentido, se describen cuáles son los supuestos más relevantes en los que podemos apreciar la colisión, analizando las circunstancias que rodean a cada uno de ellos. Además, se analizan tanto la normativa existente a tal efecto, fundamentalmente en el ámbito internacional, como la jurisprudencia del Tribunal Europeo de Derechos Humanos.This article seeks to address the problems arising from conflict between freedom of expression and religion. In this sense, it is described the most important cases in which we see the collision, analyzing the circumstances surrounding each of them. In addition, it is analyzed the regulation for this purpose, mainly in the international one, as the case law of the European Court of Human Rights

Mapping, planning and exploration with Pose SLAM

This thesis reports research on mapping, path planning, and autonomous exploration. These are classical problems in robotics, typically studied independently, and here we link such problems by framing them within a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. The main contribution of this thesis is an approach that allows a mobile robot to plan a path using the map it builds with Pose SLAM and to select the appropriate actions to autonomously construct this map. Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and where landmarks are only used to produce relative constraints between robot poses. In Pose SLAM, observations come in the form of relative-motion measurements between robot poses. With regards to extending the original Pose SLAM formulation, this thesis studies the computation of such measurements when they are obtained with stereo cameras and develops the appropriate noise propagation models for such case. Furthermore, the initial formulation of Pose SLAM assumes poses in SE(2) and in this thesis we extend this formulation to SE(3), parameterizing rotations either with Euler angles and quaternions. We also introduce a loop closure test that exploits the information from the filter using an independent measure of information content between poses. In the application domain, we present a technique to process the 3D volumetric maps obtained with this SLAM methodology, but with laser range scanning as the sensor modality, to derive traversability maps. Aside from these extensions to Pose SLAM, the core contribution of the thesis is an approach for path planning that exploits the modeled uncertainties in Pose SLAM to search for the path in the pose graph with the lowest accumulated robot pose uncertainty, i.e., the path that allows the robot to navigate to a given goal with the least probability of becoming lost. An added advantage of the proposed path planning approach is that since Pose SLAM is agnostic with respect to the sensor modalities used, it can be used in different environments and with different robots, and since the original pose graph may come from a previous mapping session, the paths stored in the map already satisfy constraints not easy modeled in the robot controller, such as the existence of restricted regions, or the right of way along paths. The proposed path planning methodology has been extensively tested both in simulation and with a real outdoor robot. Our path planning approach is adequate for scenarios where a robot is initially guided during map construction, but autonomous during execution. For other scenarios in which more autonomy is required, the robot should be able to explore the environment without any supervision. The second core contribution of this thesis is an autonomous exploration method that complements the aforementioned path planning strategy. The method selects the appropriate actions to drive the robot so as to maximize coverage and at the same time minimize localization and map uncertainties. An occupancy grid is maintained for the sole purpose of guaranteeing coverage. A significant advantage of the method is that since the grid is only computed to hypothesize entropy reduction of candidate map posteriors, it can be computed at a very coarse resolution since it is not used to maintain neither the robot localization estimate, nor the structure of the environment. Our technique evaluates two types of actions: exploratory actions and place revisiting actions. Action decisions are made based on entropy reduction estimates. By maintaining a Pose SLAM estimate at run time, the technique allows to replan trajectories online should significant change in the Pose SLAM estimate be detected. The proposed exploration strategy was tested in a common publicly available dataset comparing favorably against frontier based exploratio