Vegetation and fire history since the last glacial maximum in an inland area of the western Mediterranean Basin (Northern Iberian Plateau, NW Spain)

We reconstructed vegetation responses to climate oscillations, fire and human activities since the last glacial maximum in inland NW Iberia, where previous paleoecological research is scarce. Extremely sparse and open vegetation composed of steppic grasslands and heathlands with scattered pioneer trees suggests very cold and dry conditions during the Oldest Dryas, unsuitable for tree survival in the surroundings of the study site. Slight woodland expansion during the Bolling/Allerod was interrupted by the Younger Dryas cooling. Pinewoods dominated for most of the early Holocene, when a marked increase in fire activity occurred. Deciduous trees expanded later reaching their maximum representation during the mid-Holocene. Enhanced fire activity and the presence of coprophilous fungi around 6400-6000 cal yr BP suggest an early human occupation around the site. However, extensive deforestation only started at 4500 calyrBP, when fire was used to clear the tree canopy. Final replacement of woodlands with heathlands, grasslands and cereal crops occurred from 2700 cal yr BP onwards due to land-use intensification. Our paleoecological record can help efforts aimed at restoring the natural vegetation by indicating which communities were dominant at the onset of heavy human impact, thus promoting the recovery of currently rare oak and alder stands.

A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles

This research on odometry based GPS-denied navigation on multirotor Unmanned Aerial Vehicles is focused among the interactions between the odometry sensors and the navigation controller. More precisely, we present a controller architecture that allows to specify a speed specified flight envelope where the quality of the odometry measurements is guaranteed. The controller utilizes a simple point mass kinematic model, described by a set of configurable parameters, to generate a complying speed plan. For experimental testing, we have used down-facing camera optical-flow as odometry measurement. This work is a continuation of prior research to outdoors environments using an AR Drone 2.0 vehicle, as it provides reliable optical flow on a wide range of flying conditions and floor textures. Our experiments show that the architecture is realiable for outdoors flight on altitudes lower than 9 m. A prior version of our code was utilized to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012. The code will be released as an open-source ROS stack hosted on GitHub.

A General Purpose Configurable Navigation Controller for Micro Aerial Multirotor Vehicles

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements, such as on-board optical flow measurements. The multirotor platform is modeled as a flying object with specific kinematic constraints that must be taken into account in order to obtain successful results. A navigation controller is proposed featuring a set of configurable parameters that allow, for instance, to have a configuration setup for fast trajectory following, and another to soften the control laws and make the vehicle navigation more precise and slow whenever necessary. The proposed controller has been successfully implemented in two different multirotor platforms with similar sensoring capabilities showing the openness and tolerance of the approach. This research is focused around the Computer Vision Group's objective of applying multirotor vehicles to civilian service applications. The presented work was implemented to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012, gaining two awards: the Special Award on "Best Automatic Performance - IMAV 2012" and the second overall prize in the participating category "Indoor Flight Dynamics - Rotary Wing MAV". Most of the code related to the present work is available as two open-source projects hosted in GitHub.