Land Control Research Articles

Autonomous Emergency Gliding Landing Guidance and Control of Tilt-Wing Electric Vertical Take-Off and Landing for Urban Air Mobility Missions Using Control Barrier Functions

Urban Air Mobility (UAM) aims to transform urban transportation through innovative applications of electric Vertical Take-Off and Landing (eVTOL) aircraft. This paper focuses on tilt-wing eVTOLs, which offer significant advantages in energy efficiency and operational versatility. However, their unique flight characteristics present challenges, particularly during emergency landings. To address this, we propose a novel control framework that utilizes control barrier functions (CBFs) to ensure safe landings within urban environments, characterized by numerous obstacles and varying conditions. By integrating trajectory generation, tracking, and attitude control under stringent safety constraints, our method prioritizes occupant safety while complying with FAA airworthiness standards. We illustrate the framework’s effectiveness through simulations, demonstrating its ability to guide eVTOLs to safe touchdowns despite power loss or other emergencies. This study not only advances the understanding of emergency landing mechanisms for eVTOLs but also contributes to the broader field of urban air traffic management, offering a foundation for future research and practical implementations of UAM. The innovative combination of CBFs and global optimization techniques sets a new precedent for resilient aircraft control in complex urban scenarios, paving the way for the safe integration of eVTOLs into everyday urban life.

STRATEGI PENYELESAIAN KONFLIK PENGUASAAN LAHAN DALAM KAWASAN HUTAN DI DESA SOLAN KECAMATAN JARO PADA WILAYAH KPH TABALONG

The Permanent Production Forest (HP) area in the Tabalong Regency area has an area of ± 44,759 ha which is a forest area in the Tabalong KPH management area. The administrative designation of this Forest Area is in Solan Village, Jaro District. In this area there are problems related to conflicts over land use and claims in locations whose status is still production forest areas. The Solan Village area which is within the Permanent Production Forest (HP) area covers an area of 4,161.2731 ha. In some areas, the Solan Village community uses the area for housing, public facilities and plantations. The area of Solan Village which is outside the forest area is 87,377 ha. The results of the questionnaire showed that 50% of respondents were not aware of the government's determination of forest area status and the boundaries of forest areas in their area. The community considers that the land belongs to them because it has been owned for generations. For this reason, it is necessary to carry out mapping regarding area control conflicts and re-arrangement of forest area boundaries in the Tabalong KPH area which aims to inventory land control problems and community rights to forest areas as well as safeguard and protect designated forest areas. Socialization and the presence of officers are important components to bring awareness and understanding to the community about forests and forest areas, so that conflicts over control of forest areas can be eliminated.

Adaptive velocity control for UAV boat landing: A neural network and particle swarm optimization approach

Achieving precise landing of Unmanned Aerial Vehicles (UAVs) onto moving platforms, such as Autonomous Surface Vehicles (ASVs), is challenging, particularly in GPS-denied environments with dynamic disturbances. Conventional methods often rely on high-level waypoint navigation, extensive manual tuning, and expensive sensors. In this work, we propose an adaptive Proportional-Integral-Derivative (PID) controller optimization using a Neural Network-Particle Swarm Optimization (NN-PSO) algorithm. The algorithm dynamically tunes the PID controller, significantly reducing manual tuning effort, while relying solely on a low-cost camera and altitude sensor. The NN-PSO algorithm allows the UAV to land with an average error of 5 cm on static platforms and 10 cm on moving boats, based on multiple test flights. Our method also increases the maximum landing speed to 80.9% of the UAV’s top flight speed, a considerable improvement over existing systems. Our approach not only optimizes landing precision but also introduces techniques for ensuring soft landings, reducing oscillations, and preventing target misses. These enhancements make the method robust across varying flight altitudes and ASV speeds. Furthermore, this approach is applicable to a variety of GPS-denied scenarios, including rescue missions, package deliveries, and workspace inspections, without requiring costly equipment or extensive parameter tuning. Field experiments confirm the precision and stability of the proposed system, validating its performance in real-world conditions. [Video]

Tinjauan Yuridis Putusan Hakim Mengenai Perbuatan Melawan Hukum dalam Sangketa Pertanahan Pada Putusan Kasasi Mahkamah Agung Nomor 4655 K/PDT/2023

The Supreme Court's decision in Case No. 4655 K/Pdt/2023, which involves a land ownership dispute between PT Sarana Subur Agrindotama and H. Muhammad Noor alias Amat Iras, serves as an important reference in the development of agrarian law, particularly regarding the ownership of Right to Cultivate (HGU) certificates in Indonesia. This dispute addresses unlawful conduct in the form of land control that is inconsistent with applicable legal principles, specifically regulated in Article 1365 of the Indonesian Civil Code (KUHPer). Through an analysis of legal considerations and presented evidence, the Supreme Court decisively ruled on the rights and ownership boundaries involving HGU and individual rights to land. This article explores the implications of this decision, including its impact on legal protection for HGU holders and community rights to land, and examines the decision's influence on future land management in Indonesia.

Solusi dan Langkah Kongkrit dalam Penyelesaian Sengketa Pertanahan di Indonesia

The existence of a conflict of interest in land causes land disputes. In order to realize the welfare of the community in the use and control of land, it is hoped that there will be improvements, both in the field of land use and land arrangement, with the realization of these improvements it is hoped that legal certainty in land in Indonesia will be born. The purpose of this study is to find out and describe solutions and concrete steps in resolving land disputes in Indonesia and dispute resolution mechanisms that can be taken both by litigation and non-litigation. This research is processed with a normative juridical approach method, namely by looking at law as a set of regulations/rules or doctrines that have a normative nature (law in book). The results of land disputes have complex roots, both from a legal and institutional perspective, laws and regulations need to be clarified and strengthened so that there are no legal weaknesses and loopholes that cause disputes. Dispute resolution can be done both by litigation and non-litigation.

Agrarian Reform: Implementation and Exploration of Land Conflicts in Several Countries (A Bibliometric and Content Analysis of International Research on the Agrarian Reform Concept)

The disparity in the structure of land control which leads to agrarian disputes becomes a continuous discussion in the history of land tenure and land ownership in Indonesia. This research employed the bibliometric analysis and the content analysis of international research on agrarian law to provide a more holistic illustration of the latest research trends in the field of agrarian law. The problems of this research are, "Based on the bibliometric analysis, how do various countries regulate agrarian reform?" and "Based on the content analysis, how do various countries explore the resolution of land conflicts through agrarian reform?" This was normative research that employed the statute approach, the conceptual approach, and the comparative approach. This research utilized the VosViewer application to undergo bibliometric analysis from the data extracted from research database sources. The co-word analysis was employed by using keywords that emerged along with the article. Results showed that Article 33 of the Republic of Indonesia’s 1945 Constitution explains that the state must provide the greatest guarantee of societal welfare. The agrarian reform that is currently applied with several policies that were issued with the enactment of the Law on Job Creation has concerns about the existence of a paradigm that the existence of land is only for the interest of development and investors without paying attention to the needs of society. Various countries have agrarian issues with different backgrounds of problems that may be concluded into four issues, namely the failure in implementing the agrarian reform; the disparity in land ownership; limitations in handling issues of land ownership, and agrarian justice; as well as unjust political intervention.

Formation control of multiple VTOL UAVs with global stability subject to switching networks

This article investigates the problem of distributed formation control for multiple vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) under a switching network with uniform joint connectivity condition. VTOL UAV, as a representative UAV, combines the VTOL capabilities of rotary-wing aircraft with the forward flight capabilities of fixed-wing aircraft. On the one hand, a novel distributed observer is developed for each VTOL UAV to asymptotically acquire the leader’s desired information. On the other hand, considering the underactuated nature of VTOL UAVs, a hierarchical framework is introduced to achieve position tracking of the desired observation positions and attitude tracking of the commanded attitudes. Compared to existing findings, a notable feature of this study is the allowance for a directed and switching communication network. Specifically, the switching network only requires joint connectivity. Additionally, the introduction of hyperbolic tangent functions ensures the boundedness of control inputs, further guarantees the global asymptotic stability of the entire closed-loop system. Simulation results validate the effectiveness of the algorithm.

Agrarian Reform and Land for Youth?: Responding to Agricultural Gerontocracy among Palm Sugar Farmers in the Menoreh Mountains

This paper aims to examine the contribution of agrarian reform in addressing the gerontocracy of agriculture in rural areas. The research specifically focuses on examining how the post-agrarian reform program in Gunung Kukusan hamlet has shifted land ownership and control from the older to the younger generation, and how agrarian reform has influenced changes in land management control. The research was conducted using a qualitative approach. Data collection techniques included in-depth interviews, observation, and documentation. Data analysis was carried out qualitatively by categorizing and visualizing the data. The research results clearly demonstrate the issue of agricultural gerontocracy, particularly the tendency to view agricultural activities as a secondary profession. Agrarian reform through asset restructuring and access restructuring does not bring about changes in land control, ownership, and management. Land certification serves as a confirmation of ownership rather than a direct transfer of ownership. The practice of land grabbing shows that management control is entirely in the hands of landowners, most of whom belong to the older generation. The youth lack the authority to make changes to the generations-old coconut farming practices. This situation underscores the need for agrarian reform policies that accommodate the issue of youth landlessness.

Land and forest fire control strategy through inter-organizational network in efforts to implement disaster management in Riau province, Indonesia

Abstract In addition to harming ecosystems that provide clean air and water, forest and land fires have an effect on human health. The foundation of the network theory is the interconnection of actors. To be effective and efficient, land and forest fire control organizations that involve numerous government agencies or organizations at the national, province, district, sub-district, and village levels need an organizational structure that functions harmoniously and cohesively. This study aims to execute disaster management in Riau Province by analyzing and describing methods for preventing land and forest fires through inter-organizational networks. This study was conducted in the province of Riau, specifically in the Rokan Hilir Regency. The approach is qualitative. Primary and secondary sources of data are needed for this investigation. People who are thought to be knowledgeable about the use of inter-organizational networks in the management of land and forest fires in Rokan Hilir Regency serve as the study’s unit of analysis. The study’s findings include improving organizational structure strategy, coordinating programs across companies, and planning and operations for managing land and forest fires. The study’s recommendations include drafting regional legislation, offering technical assistance for managing land fires and forests, and altering the organizational structure of the Land and Forest Emergency Alert Post Team in Riau Province.

The Urgency of Land Banks in State Control of Land in Indonesia: Constitutional Study and Management Mechanisms

The establishment of the Land Bank in Indonesia is a response to the complex issues surrounding land, including limited land availability, conflicting interests, and challenges in land law implementation. The Land Bank is established with the aim of improving land governance, supporting agrarian reform, and promoting the welfare of the people. However, there are several important issues related to the establishment of the Land Bank, including the lack of clarity regarding its philosophy, legal basis, and principles, as well as the urgency of its establishment. Additionally, the legal status and accountability of the Land Bank are not fully defined. In its implementation, the Land Bank utilizes resources from the state or regional budgets, as well as its own revenue and other legitimate sources. Operational activities of the Land Bank are planned on a medium-term and annual basis, and land utilization can be carried out through self-management or collaboration with other parties. The Land Bank also adheres to the nonprofit principle, where the revenue obtained is used for organizational development without distributing profits to the Land Bank's body. The establishment of the Land Bank in Indonesia has the potential to support economic development, but it also raises concerns regarding economic inequality and land injustice, particularly for economically disadvantaged groups. Therefore, proper monitoring and regulations are necessary to ensure that the Land Bank operates in line with its intended goals.

The Dynamics of Land Control in Forest Areas by the Customary Law Community of Nagari Simpang, Pasaman Regency

Forests in Indonesia are a vital ecosystem, covering 64% of the country�s total land area, according to data from the Ministry of Environment and Forestry (LHK) released in 2020. Forests serve not only as a source of livelihood but also as a place for meeting the needs of communities, including customary law community (MHA) that have long controlled and utilized forest land prior to the establishment of the nation. One example of a land control conflict in forest areas by MHA occurs in Nagari Simpang Utara. The MHA, led by Datuk Putiah, claims the forest area as ulayat land under Minangkabau customary law. The government, through the Ministry of LHK, has designated this area as state forest land according to Law No. 41 of 1999 on Forestry, reinforced by Minister of Forestry Decree No. 35/Menhut-11/2013. This study aims to identify the dynamics of land control by MHA and find conflict resolution solutions in accordance with applicable regulations. The research method used is qualitative with a descriptive approach. The findings indicate that the recognition and existence of MHA often conflict with government policies, causing friction between indigenous communities and state authorities. In this regard, conflict resolution efforts must consider both sides to achieve a fair and sustainable solution.

Financialization of Land in Peripheral Countries: Disciplining Agrarian Structures and Perpetuating Macroeconomic Vulnerabilities

ABSTRACT This paper investigates how land financialization gains traction in peripheral countries, even amidst challenges like informal land ownership, unclear property rights, social conflicts, extreme land inequality, social unrest, and a primary-export economy. It unfolds in two stages: first, revisiting key concepts like 'agrarian structure' and core-periphery dependency, originally used by Latin American economists in the 1970s and 1980s to analyze land concentration, distributive conflicts, and macroeconomic vulnerabilities. Second, it identifies how land financialization influences existing agrarian structures. The goal is to clarify why, despite a disorganized institutional context, there is an increase in financial motives, roles, and agents for land control. Considering new financial innovations, policies, and institutional changes in the region, it is essential to explore the impact of finance in a new phase of dependency between core and peripheral countries, now focused on natural resource control beyond traditional macroeconomic realms.

Assessing Conflicts in Forest Management Among Different User Groups: A Case Study of Mwekera Forest Reserve

Conflict resolution is a vital component of effective forest resource management, attracting the attention of various stakeholders in many protected forest areas in Zambia. Challenges in achieving peaceful resolutions, disputes over land control, over-exploitation of forests for charcoal production, and agricultural expansion have led to the shrinkage of forest areas. Effective conflict resolution strategies, institutional arrangements, and a thorough understanding of conflict sources are essential for maintaining healthy forests, fostering a peaceful society, and combating the impacts of climate change. While several researchers have studied conflict management in some protected areas across the country, few studies have focused specifically on conflict resolution and management in Mwekera Forest Reserve. This study aimed to understand conflicts in forest management among different user groups. A random sampling technique was employed, with one of the five communities in the area—Mabote—randomly selected for the study. Data was collected using a structured survey questionnaire, which included questions on the socio-demographic status of respondents, causes of conflicts, institutional arrangements in conflict management, and control measures in practice. Additionally, in-depth interviews with key informants were conducted to gather data not captured by the questionnaires. A total of 70 respondents from Mabote community participated in this study. The findings indicated that nearly half (46%) of respondents identified equitable benefit-sharing as crucial for conflict management in the forest reserve. This was followed by equal access to forest areas and products (28.4%), stakeholder engagement and participation (14.3%), and enhanced forest monitoring (9.2%). A smaller portion of respondents (2.1%) pointed to the need for improving laws and policies. The results suggest that current conflict management practices in the forest reserve are insufficient (46%) to ensure effective forest management, despite the increasing sources of conflict and forest degradation. The Forest Department emerged as the primary stakeholder in Mwekera Forest Reserve’s management, exercising total control, which has led to the exclusion of local communities from accessing the forest and its resources. Therefore, effective conflict resolution measures are essential to enable equitable resource access, sustainable forest management, and conflict mitigation in the reserve.

Propulsive landing of launchers’ first stages with Deep Reinforcement Learning

The planetary landing problem is gaining relevance in the space sector, spanning a wide range of applications from unmanned probes landing on other planetary bodies to reusable first and second stages of launcher vehicles. In the existing methodology there is a lack of flexibility in handling complex non-linear dynamics, in particular in the case of non-convexifiable constraints. It is therefore crucial to assess the performance of novel techniques and their advantages and disadvantages. The purpose of this work is the development of an integrated 6-DOF guidance and control approach based on reinforcement learning of deep neural network policies for fuel-optimal planetary landing control, specifically with application to a launcher first-stage terminal landing, and the assessment of its performance and robustness. 3-DOF and 6-DOF simulators are developed and encapsulated in MDP-like (Markov Decision Process) industry-standard compatible environments. Particular care is given in thoroughly shaping reward functions capable of achieving the landing both successfully and in a fuel-optimal manner. A cloud pipeline for effective training of an agent using a PPO reinforcement learning algorithm to successfully achieve the landing goal is developed.

Agricultural land use change and its drivers in the Sudanese Ethiopian borderland: the case of Al-Fashaga region

ABSTRACT The Al-Fashaga region, situated along the Sudanese-Ethiopian border, has experienced significant land use and land cover (LULC) changes over the past three decades due to large-scale mechanized agriculture and conflict-related dynamics. This study examines LULC transitions from 1990 to 2020 using multi-temporal Landsat data, Google Earth imagery, field surveys, and key informant interviews. Findings reveal a substantial increase in agricultural land, now covering over 75% of the region, predominantly at the expense of natural vegetation, which has declined to 13.7%. The 2020 Tigray conflict in Ethiopia triggered shifts in land control, enabling Sudanese farmers to reclaim abandoned lands, and illustrating the complex interrelations between conflict, land tenure, and resource use. This dynamic has exacerbated environmental degradation and heightened socio-political tensions over fertile borderlands. The study emphasizes the urgency of conflict-sensitive land management strategies to balance agricultural productivity and environmental sustainability. Recommendations include strengthening land tenure security, adopting sustainable farming practices, and fostering cross-border collaboration to address resource-based conflicts. These findings offer critical insights into how geopolitical tensions influence land use in border regions, contributing to policies aimed at sustainable land management, conflict resolution, and peacebuilding in similarly affected areas.

Exclusion through integration: Roadbuilding and colonización in Colombia's Eastern territories

The most recent Colombian civil conflict is widely understood to have its roots in longstanding land conflict that arose from unequal land distribution in the country. In a purported effort to pacify leftist peasant demands for land without angering landholding elites through meaningful land redistribution, starting in the 1950s the Colombian state intensified colonización programmes to settle the eastern territories. This article examines the entanglements of road construction and land politics during this period of colonización, considering the systematic establishment of penetration, transversal and local roads as technologies of land control. Analysing planning documents for one of the most significant highway projects from the period – the Marginal de la Selva – alongside influential research on land colonización, this article argues that the Marginal de la Selva extended patterns of uneven integration and exacerbated exclusion of Indigenous people from their land.

Pitfalls of PTOs in land ownership and control: Rethinking access for rural development in South Africa

Permission to Occupy (PTOs) was viewed by the apartheid regime as an important mechanism for addressing inequalities in South Africa (SA). The African National Congress (ANC) government has ruled over SA for the past 30 years but has been unsuccessful in dealing with the country’s racialised land inequalities. The land reforms introduced by the ANC government have not addressed the challenges of land in the country in a timely manner. Thus, tackling the issue of land inequalities remains crucial. A desktop review was conducted to critically examine the pitfalls of PTOs in the context of rural development and advocates for a re-evaluation of access mechanisms to promote more equitable and sustainable land tenure systems. The results show that these pitfalls perpetuate socio-economic inequalities, hinder investment in land improvements, and contribute to conflicts over land resources. In response, the article proposes alternative approaches to enhance access to land for rural development, such as community-driven land governance mechanisms, participatory land-use planning, and the recognition of customary land tenure systems. These alternative strategies prioritise rural local empowerment, strengthen tenure security, and foster inclusive decision-making processes.

Addressing the Impediments to the Perfection of Land Title in Nigeria: A Comparative Discourse with England

Land is an essential natural resource endowed by nature and deposited all over the world for the survival and well-being of humanity. In Nigeria, land control is vested in each federation state's Governor. The Federal Government controls the ownership and exploitation of mineral deposits irrespective of where the mineral deposits may be located. There is often contention about the rights of individual citizens, families, and communities in land ownership. The question of trespassing has often been a subject of litigation in Nigerian courts for decades with the advent of commerce and trade. The primary objective of this article is to examine land ownership, land allocation, and how the certificate of occupancy and Governor's consent affect land ownership, lease, and purchase of land in Nigeria. This article proffers solutions to issues arising in Nigerians’ right to ownership of land. The methodology adopted in this article is essentially doctrinal, using primary sources such as law reports and statutes. The article also refers to secondary sources such as law textbooks, newspapers, and internet materials. It recommends comprehensive reforms toward easing land acquisition and minimising the incidence of trespass to land in Nigeria.

Robust Visual Landing Control of Quadrotor on a Moving Platform: A Sampled-Data Approach With Delayed Output and Disturbances

Robust Visual Landing Control of Quadrotor on a Moving Platform: A Sampled-Data Approach With Delayed Output and Disturbances

A Conceptual Mission Architecture of a Robotic Spaceflight to Enceladus for Enabling Exploration of its Surface and Subglacial Ocean

Sixth-largest moon of Saturn Enceladus is one of the most promising destinations in the Solar System to search for possible presence of extraterrestrial life. The basis of such assumptions is the confirmed presence of a large accumulation of water around Enceladus South Pole under a layer of newly formed ice of 3 to 5 km thick. In the same region, many cryovolcanic sources have been observed, studying of which can provide understanding about development of life on Earth and searching for life on other planets in the Solar System. The paper presents a conceptual mission architecture to explore Saturn’s moon Enceladus with a possibility of conducting surface and subglacial ocean studies. Proposed mission scientific goals and objectives defined technical requirements and the framework of the project. The project includes developing an automatic interplanetary station for studying the surface of Enceladus and equipment required for a contact study on and under the surface, such as a landing platform, rover, melting plant and floating robotic systems. One of the key tasks of the mission development is a landing site selection. Since the terrain of Enceladus is unknown, the choice of the exact location must be made at the time of landing, if the lander can observe the surface. The landing system proposed in this work is a special composition of a platform landing equipment assembly, which includes a set of collapsible surfaces, fixed landing supports, control and braking systems with low-thrust engines designed within the framework of the project. Proposed in this study is a.subglacial underwater robotic vehicle designed for obtaining the most accurate and detailed information about the composition of the Enceladus Ocean water and a possibility of life there. A melting device powered by a radioisotope energy source melts the ice crust allowing the subglacial robotic vehicle to immerse into the ocean. Using contour heat pipes enables heat transfer to the ice and controls the melting process without conversion into electricity. The proposed mission concept can provide a more complete picture of Enceladus as a celestial body, give a detailed description of its surface, characteristics of the subglacial ocean, and potentially answer the question of the existence of life in the subglacial ocean of Enceladus. Keywords: Enceladus, Subglacial Exploration, Robotic Transplanetary Mission