This manuscript proposes a novel tangent-graph-based method that provides all distinctive topology paths, as a set of trajectories that can not be transformed into each other by gradual bending and stretching without colliding with obstacles. As the global optimal trajectory (limited by dynamic constraints) may not correspond to the shortest path (almost without dynamic constraints), it is important to provide all distinctive topology paths rather than just the globally shortest one. One of the application is provide initial paths for trajectory planning methods, such as time elastic band (TEB) and dynamic window approach (DWA). Considering that a mobile platform is always working in a dynamic changing environment and that update the whole graph is time consuming, a dynamic rectify method is proposed to update tangents according to local map provided by sensor reading. Finally, results under real grid maps are presented.

The leaf essential oils from five Eucalyptus spp.: E. astringens, E. camaldulensis, E. lehmanii, E. leucoxylon and E. sideroxylon growing in the same plantation area and conditions (plants with the same age and subjected to the same agronomic practices) were analyzed and evaluated for their antimicrobial activity. The essential oil yields ranged from 0.14 to 0.96% (w/w), and their chromatographic profiles were resolved into 48 compounds; among them, 11 were common to all essential oils. Terpenoids (oxygenated mono, and sesquiterpenes) dominated (55.66-76.67%) the oil profiles. Although 1,8-cineole (21.97-50.93%) was found as the main oxygenated monoterpene in all examined essential oils, principal component analysis observed and confirmed an interspecific chemical variability. Additionally, a set of distinctive chemical markers that could serve as a reliable tool for discrimination of Eucalyptus species and for authentication and quality control purposes (for commercial samples) has been defined for each essential oil. The antimicrobial disc-diffusion assay results revealed that all essential oils were endowed with a strong antimicrobial activity, with those derived from E. camaldulensis, E. lehmanii and E. leucoxylon being the most active.