Enabling Leg-Based Guidance on Top of Waypoint-Based Autopilots for UAS

This paper presents a methodology to extend the guidance functionalities of Commercial Off-The-Shelf autopilots currently available for Unmanned Aircraft Systems (UAS). Providing that most autopilots only support elemental waypoint-based guidance, this technique allows the aircraft to follow leg-based flight plans without needing to modify the internal control algorithms of the autopilot. It is discussed how to provide Direct to Fix, Track to Fix and Hold to Fix path terminators (along with Fly-Over and Fly-By waypoints) to basic autopilots able to natively execute only a limited set of legs. Preliminary results show the feasibility of the proposal with flight simulations that used a flexible and reconfigurable UAS architecture specifically designed to avoid dependencies with a single or particular autopilot solution.

Competition for Cooperation: variability, benefits and heritability of relational wealth in hunter-gatherers

Many defining human characteristics including theory of mind, culture and language relate to our sociality, and facilitate the formation and maintenance of cooperative relationships. Therefore, deciphering the context in which our sociality evolved is invaluable in understanding what makes us unique as a species. Much work has emphasised group-level competition, such as warfare, in moulding human cooperation and sociality. However, competition and cooperation also occur within groups; and inter-individual differences in sociality have reported fitness implications in numerous non-human taxa. Here we investigate whether differential access to cooperation (relational wealth) is likely to lead to variation in fitness at the individual level among BaYaka hunter-gatherers. Using economic gift games we find that relational wealth: a) displays individual-level variation; b) provides advantages in buffering food risk, and is positively associated with body mass index (BMI) and female fertility; c) is partially heritable. These results highlight that individual-level processes may have been fundamental in the extension of human cooperation beyond small units of related individuals, and in shaping our sociality. Additionally, the findings offer insight in to trends related to human sociality found from research in other fields such as psychology and epidemiology.