Mapping environments is a fundamental task for a rescue robot. In this paper we present techniques that we have developed for mapping rescue environments within the SPQR-Rescue team participating in the RoboCup 2004 Real Rescue competition. After an analysis of existing techniques for simultaneous localization and mapping (SLAM) we have devised a method suitable for planar environment (i.e. yel...

The structure of uleine type alkaloids is characterized by the presence a bridged tetracyclic hexahydro-1H-1,5-methanoazocino[4,3-b]indole ring system 1. Various strategies have been developed to access this polycyclic structural motif. We report herein one-step conversion appropriately functionalized 1,3,4-trisubstituted cyclopent-1-ene 1 way an integrated oxidation/reduction/cyclization (iORC...

We find three non-planar graphs which are flow-equivalent to planar graphs. It is also shown that some non-planar graphs are not flow-equivalent to any planar graph.

withdrawing groups and an electron-donating group. The electron-withdrawing groups are further conjugated with a double bond in the ring. The light-absorption characteristics of the molecule are expected to be modified by changing the substituents attached to the molecule. This indicates that the molecule can be one of the basic components in designing functional dyes. It is therefore of partic...

the crossing number of a graph  is the minimum number of edge crossings over all possible drawings of  in a plane. the crossing number is an important measure of the non-planarity of a graph, with applications in discrete and computational geometry and vlsi circuit design. in this paper we introduce vertex centered crossing number and study the same for maximal planar graph.