Xavier Arbós. Els límits de la immunitat en les societats democràtiques. El cas de la portada d'el Jueves

El dia 18 de juliol la revista satítica el Jueves publicava una caricatura en què, a través de la sàtira als hereus de la corona espanyola, es pretenia atacar la subvenció que el govern de l'Estat havia decidit atorgar per incentivar la natalitat. La reacció de la fiscalia, que va ordenar el segrest de la publicació, ha tornat a obrir diverses ferides sempre mal curades, com són els límits de la llibertat d'expressió la legitimitat de la monarquia en una societat democràtica

WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria