Omnidirectional bearing-only see-and-avoid for small aerial robots:

Motivated by the growing interest in unmanned aerial system's applications in indoor and outdoor settings and the standardisation of visual sensors as vehicle payload. This work presents a collision avoidance approach based on omnidirectional cameras that does not require the estimation of range between two platforms to resolve a collision encounter. It will achieve a minimum separation between the two vehicles involved by maximising the view-angle given by the omnidirectional sensor. Only visual information is used to achieve avoidance under a bearing-only visual servoing approach. We provide theoretical problem formulation, as well as results from real flight using small quadrotors

A Visual AGV-Urban Car using Fuzzy Control

The goal of the work described in this paper is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just the visual information of a line painted below the car. In order to implement the control of the vehicle, a Fuzzy Logic controller has been implemented, that has to be robust against curvature changes and velocity changes. The only input information for the controller is the visual distance from the image center captured by a camera pointing downwards to the guiding line on the road, at a commercial frequency of 30Hz. The good performance of the controller has successfully been demonstrated in a real environment at urban velocities. The presented results demonstrate the capability of the Fuzzy controller to follow a circuit in urban environments without previous information about the path or any other information from additional sensors

Tomas Lopez's Geographic Atlas of Spain in the Peninsular War: A methodology for determining errors

During the Peninsular War, Napoleon's and Wellington's armies were aware of the lack of precision in the maps of Spain and its provinces that appeared in Tomas Lopez \s Geographical Atlas of Spain. The errors were due to the non-topographical surveying method he used which he had learned from his teacher Jean Baptiste Bourguignon D 'Anville. To map all of the Spanish provinces, Tomas Lopez divided them into circles of three leagues in diameter (16,718 m), taking a particular town as the centre. He asked the town's priest to draw a map of the territory and to complete a questionnaire that Tomas Lopez sent to him. The priest was to return the two documents after he had completed them. Subsequently, at his desk, Tomas Lopez used the maps and reports as well as other graphic and written sources from various locations to make an outline of each map. Next, he made a mosaic that served as a pattern for drawing the final provincial map. We will see the way that this method was applied in two concrete cases: the villages ofChavaler and Monteagudo, situated in the Spanish province of Soria, and verify their degree of accuracy. We will use the maps drawn by the priests in 1767, the final map of the province which was published in 1804 by Tomás López, and a current map of the province showing the angular and linear errors in Lopez \s map.