First principles calculations have been performed to investigate the ground state properties of freestanding monolayer hexagonal boronitrene (h-BN). We have considered monolayers that contain native point defects and their complexes, which form when the point defects bind with the boron vacancy on the nearest neighbour position. The changes in the electronic structure are analysed to show the extent of localization of the defect-induced mid-gap states. The variations in formation energies suggest that defective h-BN monolayers that contain carbon substitutional impurities are the most stable structures irrespective of the changes in growth conditions. The high energies of formation of the boron vacancy complexes suggest that they are less stable, and their creation by ion bombardment would require high energy ions compared to point defects. Using the relative positions of the derived mid-gap levels for the double vacancy complex, it is shown that the quasi donor-acceptor pair interpretation of optical transitions is consistent with stimulated transitions between electron-hole states in boronitrene.
The field of mobile robot (MR) navigation with obstacle avoidance has largely focused on real, physical obstacles as the sole external causative agent for navigation impediment. This paper has explored the possible option of virtual obstacles (VOs) dominance in robot navigation impediment in certain navigation environments as a MR move from sone point in the workspace to a desired target point. The systematically explored literature presented reviews mostly between the years 2000 and 2021; however, some outlier reviews from earlier years were also covered. An exploratory review approach was deployed to itemise and discuss different navigation environments and how VOs can impact the efficacy of both algorithms and sensors on a robotic vehicle. The associated limitations and the specific problem types addressed in the different literature sources were highlighted including whether or not a VO was considered in the path planning simulation or experiment. The discussion and conclusive sections further recommended some solutions as a measure towards addressing sensor performance incapacitation in a robot vehicle navigation problem.
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