Conventional discrete return airborne lidar systems, used in the commercial sector for efficient generation of high quality spatial data, have been considered for the past decade to be an ideal choice for various mapping applications. Unlike two-dimensional aerial imagery, the elevation component of airborne lidar data provides the ability to represent vertical structure details with very high ...

In this working paper we study some properties of a particular mapping in Rn related to an optimization problem with one equality constraint. We motivate the definition of the relevant mapping starting from a portfolio selection problem, in which we minimize the risk of an investment (the variance of its return) with one equality constraint given by a fixed level of the return itself. The vecto...

In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...

In this paper, we study the location routing problem with replenishment facilities (LRPRF), an extension of the location routing problem (LRP) where the vehicles can replenish at some replenishment facilities. Vehicles leave the depot with load on-board, serve customers until out of load, and then either return to a replenishment facility to reload or return to the depot, completing their route...

Engineering economy set of mathematical techniques for economic evaluation of investment projects that present value and internal rate of return method are among the most important of these methods. Managers and investors have many reasons to using internal rate of return greater willingness shown. This is while the serious problems associated with using internal rate of return method. In recen...

A stress integration algorithm for the finite-step elastoplastic constitutive equations of J2 material models under plane stress condition is presented. The procedure is referred to a two-dimensional continuum model consistently derived from the threedimensional one by implicitly fulfilling the constraint enforced by the plane stress condition. A direct exploitation of the property which charac...