Maze navigation using one or more robots has become a recurring challenge in scientific literature and real life practice, with fleets having to find faster and better ways to navigate environments such as a travel hub (e.g. airports) or to evacuate a disaster zone. Many methods have been used to solve this issue, including the implementation of a variety of sensors and other signal receiving systems. Most interestingly, camera-based techniques have increasingly become more popular in this kind of applications, given their robustness and scalability. In this paper, we have implemented an end-to-end strategy to address this scenario, allowing a robot to solve a maze in an autonomous way, by using computer vision and path planning. In addition, this robot shares the generated knowledge to another by means of communication protocols, having to adapt its mechanical characteristics to be able to solve the same challenge. The paper presents experimental validation of the four components of this solution, namely camera calibration, maze mapping, path planning and robot communication. Finally, we present the integration and functionality of these methods applied in a pair of NAO robots.

Landscape changes based on spectral responses allow showing plant cover changes through diversity, composition, and ecological connectivity. The spatial and temporal vegetation dynamics of the Bijagual Massif from 1986 to 2021 were analyzed as a measure of ecological integrity, conservation, and territory. The covers identified were high open forest (Hof), dense grassland of non-wooded mainland (Dgnm), a mosaic of pastures and crops (Mpc), lagoons (Lag), and bare and degraded lands (Bdl). The Bijagual Massif has 8,574.1 ha. In 1986, Dgnm occupied 42.6% of the total area, followed by Mpc (32.8%) and Hof (24.5%); by 2000, Mpc and Hof increased (43.7 and 28.1%, respectively), while Dgnm decreased (28%); by 2021, Dgnm was restricted to the northeastern zone and continued to decrease (25.2%), Mpc occupied 52.9%, Hof 21.7% and Bdl 0.1%. Of the three fractions of the connectivity probability index, only dPCintra and dPCflux contribute to ecological connectivity. Hof and Dgnm show patches with biota habitat quality and availability. Between 1986 and 2021, Dgnm lost 1,489 ha (41%) and Hof 239.5 ha (11%). Mpc replaced various covers (1,722.2 ha; 38%) in 2021. Bijagual has a valuable biodiversity potential limited by Mpc. Territorial planning and sustainable agroecological and ecotourism proposals are required due to the context of the ecosystems.