Localization,Exploration, and Navigation Based on Qualitative Angle Information

Abstract

Three of the major problems in building autonomous mobile robots are localization, exploration, and navigation. This paper investigates how well different qualitative methods based on angle information, most of them originally invented for representation of spatial knowledge, are suited for addressing these problems. It combines results from discrete and computational geometry with methods from qualitative spatial reasoning, gaining some new insights on the complexity of robot navigation. It turns out that essentially only with panoramas (special roundviews) the qualitative localization problem can be solved in a satisfactory manner. The exploration problem (qualitative map building), remains difficult for all considered approaches.     

Charge Structure and Dynamics in Thunderstorms

The electrical structure inside thunderstorm clouds and the changes with time of this structure are fundamental parameters for atmospheric electricity studies on Earth. This paper gives a review of the current state of knowledge about thunderstorm charge structure based primarily on in-cloud vertical profiles through different types of deep convective clouds, cirriform anvil clouds, and stratiform precipitation regions associated with mid-latitude mesoscale convective systems. Results on the dynamical evolution of the vertical charge structure during the early and decay stages from series of balloon soundings through small thunderstorms are described, along with recent findings regarding the importance of the charge structure in determining the current contribution of small and large thunderstorms to the Earth’s global electrical circuit.