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

Upgrade of the UNICOS Time Stamp Push Protocol (TSPP) broker to include ultra-fast events

Implementación de una nueva funcionalidad (fast interlocks) al framework UNICOS y comunicación de los eventos ocurridos durante el tratamiento de dichos eventos mediante el protocolo TSP

Hierarchical Path Search with Partial Materialization of Costs for a Smart Wheelchair

In this paper, the off-line path planner module of a smart wheelchair aided navigation system is described. Environmental information is structured into a hierarchical graph (H-graph) and used either by the user interface or the path planner module. This information structure facilitates efficient path search and easier information access and retrieval. Special path planning issues like planning between floors of a building (vertical path planning) are also viewed. The H-graph proposed is modelled by a tree. The hierarchy of abstractions contained in the tree has several levels of detail. Each abstraction level is a graph whose nodes can represent other graphs in a deeper level of the hierarchy. Path planning is performed using a path skeleton which is built from the deepest abstraction levels of the hierarchy to the most upper levels and completed in the last step of the algorithm. In order not to lose accuracy in the path skeleton generation and speed up the search, a set of optimal subpaths are previously stored in some nodes of the H-graph (path costs are partially materialized). Finally, some experimental results are showed and compared to traditional heuristic search algorithms used in robot path planning.Comisión Interministerial de Ciencia y Tecnología TER96-2056-C02-0

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

From preferences between arguments to preferences between explanations

In this ongoing work we present a new approach to the problem of argument evaluation. According to our view the notion of preference between deductive arguments is reducible to simpler notions. Departuring from this analysis we intend to apply it to the problem of hypothesis selection in explanatory practices.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

A formal analysis of the notion of preference between deductive arguments

In the last two decades, justification logic has addressed the problem of including justifications into the field of epistemic logic. Nevertheless, there is something that has not received enough attention yet: how epistemic agents might prefer certain justifications to others, in order to have better pieces of evidence to support a particular belief. In this work, we study the notion of preference between a particular kind of justifications: deductive arguments. For doing so, we have built a logic using tools from epistemic logic, justification logic and logics for belief dependence. According to our solution, the preferences of an epistemic agent between different deductive arguments can be reduced to other notions