Autonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific tasks. In this paper, we present a novel approach for detection and assessment of potential landing sites for safe quadrotor landing. Our solution efficiently integrates 2D and 3D environmental information, eliminating the need for external aids such as GPS and computationally intensive elevation maps. The proposed pipeline combines semantic data derived from a Neural Network (NN), to extract environmental features, with geometric data obtained from a disparity map, to extract critical geometric attributes such as slope, flatness, and roughness. We define several cost metrics based on these attributes to evaluate safety, stability, and suitability of regions in the environments and identify the most suitable landing area. Our approach runs in real-time on quadrotors equipped with limited computational capabilities. Experimental results conducted in diverse environments demonstrate that the proposed method can effectively assess and identify suitable landing areas, enabling the safe and autonomous landing of a quadrotor.

SPARQL is the de facto language for querying RDF data, since its standardization in 2008. A new version, called SPARQL 1.1, was released in 2013, with the aim of enriching the 2008 language with reasoning capabilities to deal with RDFS and OWL vocabularies, and a mechanism to express navigation patterns through regular expressions. However, SPARQL 1.1 is not powerful enough for expressing some relevant navigation patterns, and it misses a general form of recursion. In this work, we focus on OWL 2 QL and we propose TriQ-Lite 1.0, a tractable rule-based formalism that supports the above functionalities, and thus it can be used for querying RDF data. Unlike existing composite approaches, our formalism has simple syntax and semantics in the same spirit as good old Datalog.

The pattern satisfiability is a fundamental problem for SPARQL. This paper provides a complete analysis of decidability/undecidability of satisfiability problems for SPARQL 1.1 patterns. A surprising result is the undecidability of satisfiability for SPARQL 1.1 patterns when only AND and MINUS are expressible. Also, it is shown that any fragment of SPARQL 1.1 without expressing both AND and MINUS is decidable. These results provide a guideline for future SPARQL query language design and implementation.