Counterexample Guided Inductive Optimization Applied to Mobile Robots Path Planning (Extended Version)

We describe and evaluate a novel optimization-based off-line path planning algorithm for mobile robots based on the Counterexample-Guided Inductive Optimization (CEGIO) technique. CEGIO iteratively employs counterexamples generated from Boolean Satisfiability (SAT) and Satisfiability Modulo Theories (SMT) solvers, in order to guide the optimization process and to ensure global optimization. This paper marks the first application of CEGIO for planning mobile robot path. In particular, CEGIO has been successfully applied to obtain optimal two-dimensional paths for autonomous mobile robots using off-the-shelf SAT and SMT solvers.Comment: 7 pages, 14rd Latin American Robotics Symposium (LARS'2017

Antisymmetric tensor propagator with spontaneous Lorentz violation

In this work, we study the spontaneous Lorentz symmetry breaking due to an antisymmetric 2-tensor field in Minkowski spacetime. For a smooth quadratic potential, the spectrum of the theory exhibits massless and massive excitations. We show that the equations of motion for the free field obey some constraints which lead to the massive mode be non-propagating at leading order. Besides, there exists a massless mode in the theory which can be identified with the usual Kalb-Ramond field, carrying only one on-shell degree of freedom. The same conclusion holds when one analyses the pole structure of its Feynman propagator. A new complete set of spin-type operators is found, which was the requirement to evaluate the propagator of the Kalb-Ramond field modified by the presence of a nonzero vacuum expectation value responsible for the Lorentz violation.Comment: 13 pages. Some modifications to match published version in EuroPhysics Letter

Canonical transformation for stiff matter models in quantum cosmology

In the present work we consider Friedmann-Robertson-Walker models in the presence of a stiff matter perfect fluid and a cosmological constant. We write the superhamiltonian of these models using the Schutz's variational formalism. We notice that the resulting superhamiltonians have terms that will lead to factor ordering ambiguities when they are written as operators. In order to remove these ambiguities, we introduce appropriate coordinate transformations and prove that these transformations are canonical using the symplectic method.Comment: Revtex4 Class, 3 pages, No Figure

Ladder operators for subtle hidden shape invariant potentials

Ladder operators can be constructed for all potentials that present the integrability condition known as shape invariance, satisfied by most of the exactly solvable potentials. Using the superalgebra of supersymmetric quantum mechanics we construct the ladder operators for two exactly solvable potentials that present a subtle hidden shape invariance.Comment: 9 pages, based on the talk given at International Conference Progress in Supersymmetric Quantum Mechanics (PSQM03), Valladolid, Spain, 15-19 July, 2003, to appear in a Special Issue of J. Phys. A: Math. Ge