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Sonar sensor-based mobile robot mapping is an efficient and low cost technique for the application such as localization, autonomous navigation, SLAM and path planning. In multi-robots system, numbers of sonar sensors are used and the sound waves from sonar are interacting with the sound wave of other sonar causes wave interference. Because of wave interference, the generated sonar grid maps get distorted which resulted in decreasing the reliability of mobile robot’s navigation in the generated grid maps. This research study focus in removing the effect of wave interfaces in the sonar mapping to achieve robust navigation of mobile robot.

The wrong perception (occupancy grid map) of the environment due to cross talk/wave interference is eliminated by randomized the triggering time of sonar by varying the delay/sleep time of each sonar sensor. A software-based approach randomized triggering technique (RTT) is design in laboratory virtual instrument engineering workbench (LabVIEW) that randomized the triggering time of the sonar sensor to eliminate the effect of wave interference/cross talk when multiple sonar are placed in face-forward directions.

To check the reliability of the RTT technique, various real-world experiments are perform and it is experimentally obtained that 64.8% improvement in terms of probabilities in the generated occupancy grid map has been attained when compared with the conventional approaches.

This proposed RTT technique maybe implementing for SLAM, reliable autonomous navigation, optimal path planning, efficient robotics vision, consistent multi-robotic system, etc.

This paper aims to develop a real-time pothole detection system to improve mapping, localization and path planning, reducing vehicle instability and accident risks. Efficient mapping, accurate localization and optimal path planning stand as prerequisites to realizing accident-free navigation. Despite their significance, existing literature often overlooks the real-time detection of potholes, which poses a considerable risk, particularly during nighttime operations. Potholes contribute to vehicle imbalance, trajectory tracking errors, abrupt braking, wheel skidding, jerking and steering overshoot, all of which can lead to accidents.

Unmanned vehicles constitute a critical domain within robotics research, necessitating reliable autonomous navigation for their optimal functioning. This research paper addresses the gap in current methodologies by leveraging a Convolutional Neural Network (CNN)-based approach to detect potholes, facilitating the generation of an efficient environmental map. Furthermore, a hybrid solution is proposed, integrating an improved Ant Colony Optimization (ACO) algorithm with modified Bezier techniques, complementing the CNN approach for accident-free and time-efficient unmanned vehicle navigation. The conventional Bezier technique is enhanced by incorporating new control points near sharp turns, mitigating rapid trajectory convergence and ensuring collision-free paths.

The hybrid solution, combining CNN with path smoothing techniques, is rigorously tested in various real-time scenarios. Experimental results demonstrate that the proposed technique achieves a 100% reduction in collisions in favorable conditions, a 4.5% decrease in path length, a 100% reduction in sharp turns and a significant 23.31% reduction in total time lag compared to state-of-the-art techniques such as conventional ACO, ACO+ Bezier and ACO+ midpoint Bezier, Improved ACO, hybrid ACO+ A*.

The proposed technique provides a proficient solution in the field of unmanned vehicles for accident-free time efficient navigation in an unstructured environment.

Taking as a point of departure the edited collection Yaraana (1999), ostensibly the first mainstream publication on gay writing from India, the purpose of this article is to trace the way Indian authors have dealt with the growing visibility of nonnormative sexualities. It suggests that from the start this debate has centered on a dyad between local and culturally specific sexual identities vs its globalized opposite, which is held to threaten regionally specific expressions. The continuing struggle for recognition and equality is revealing for a growing divide between those whose sexuality can rely on growing representation in Indian popular media, and those who feel increasingly marginalized.

This article revisits important texts that were published and publicly accessible in India from 1999 onwards. All the text considered and discussed were accessible outside academic networks and thus, available in mainstream bookstores, produced by Indian authors or long-term residents and available in English. Considering the vast language diversity of India as well as the complexity of gaining access to locally published materials, the analysis does not include texts that are only available in a vernacular language. Besides this, the article benefits from the direct input of key activists and scholars from India working on this topic.

Even if homosexuality has now been decriminalized in India, what emerges from the writing is a concern that globally hegemonic expressions of alternate sexualities might impact, homogenize and eventually eradicate locally specific expressions. Considering socioeconomic equality in India, this raises serious questions about those whose precarious positions may see them further marginalized because of this.

While there have been various overviews and analyses of the fight for decriminalization of homosexuality in India, so far there has not been an analysis how this benefited from a growing awareness and discussion in popularly accessible texts. This analysis also raises concerns that the fight for decriminalization might have negative consequences for those in marginalized positions.