Ground Profile Recovery from Aerial 3D LiDAR-based Maps

The paper presents the study and implementation of the ground detection methodology with filtration and removal of forest points from LiDAR-based 3D point cloud using the Cloth Simulation Filtering (CSF) algorithm. The methodology allows to recover a terrestrial relief and create a landscape map of a forestry region. As the proof-of-concept, we provided the outdoor flight experiment, launching a hexacopter under a mixed forestry region with sharp ground changes nearby Innopolis city (Russia), which demonstrated the encouraging results for both ground detection and methodology robustness.Comment: 8 pages, FRUCT-2019 conferenc

The modern invention of ‘dynasty’ : an introduction

Historians tend to take ‘dynasty’ for granted. It is assumed that ‘we’ know what ‘dynasty’ is; and that the concept unproblematically corresponds to the empirical reality of a historical institution present in all ‘pre-modern’ rulerships. Taking as its point of departure the peculiar history of the word itself, which acquired its current meaning only in the second half of the eighteenth century, this article sets out a research agenda for historicizing ‘dynasty’. It argues that ‘dynasty’ is not simply a neutral historical term, but a political concept that became globally hegemonic in the aftermath of the French Revolution and the expansion of European colonialism. The article maps out three main trajectories for rethinking history beyond the totalizing concept of ‘dynasty’. First, it points toward a more complex and less hierarchical vision of pre-capitalist, especially extra-European, societies. Second, it considers how capitalism produced new modes and ideologies of hereditary transmission of sovereignty and property and theorizes a link between ‘primitive accumulation’ and the political form of the royal/princely ‘House’. Third, it centres the role of colonialism–European imperial expansion as well as anti-colonial non-European nationalisms–in globalizing ‘dynasty’ as a category of power.PostprintPeer reviewe

Blockchain Solutions for Multi-Agent Robotic Systems: Related Work and Open Questions

The possibilities of decentralization and immutability make blockchain probably one of the most breakthrough and promising technological innovations in recent years. This paper presents an overview, analysis, and classification of possible blockchain solutions for practical tasks facing multi-agent robotic systems. The paper discusses blockchain-based applications that demonstrate how distributed ledger can be used to extend the existing number of research platforms and libraries for multi-agent robotic systems.Comment: 5 pages, FRUCT-2019 conference pape

An architecture for distributed ledger-based M2M auditing for Electric Autonomous Vehicles

Electric Autonomous Vehicles (EAVs) promise to be an effective way to solve transportation issues such as accidents, emissions and congestion, and aim at establishing the foundation of Machine-to-Machine (M2M) economy. For this to be possible, the market should be able to offer appropriate charging services without involving humans. The state-of-the-art mechanisms of charging and billing do not meet this requirement, and often impose service fees for value transactions that may also endanger users and their location privacy. This paper aims at filling this gap and envisions a new charging architecture and a billing framework for EAV which would enable M2M transactions via the use of Distributed Ledger Technology (DLT)

Accelerating Industrial Applications: The Development of Basic GPU Kernels for the New Block AMG Algorithms for Solving SLE with Explicitly Calculated Sparse Basis

AbstractNowadays, GPU computations are playing significant role in supercomputing technologies. This work is a part of a project dealing with solving problems of modeling hydro- and aerodynamics where linear algebra operations are frequently used and occupy most of execution time. In despite of the fact that GPUs are traditionally used for solving high sized problems, in our project we need to solve many tasks of low sizes. Because of this, modern library's solutions such as cuBLAS (1) and cuSPARSE (2) are not suitable enough for that, so we have a task of implementation more efficient functions for concrete linear algebra operations taking into account its specialties