8,740 research outputs found

    Learning Ground Traversability from Simulations

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    Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a convolutional neural network that, given an image representing the heightmap of a terrain patch, predicts whether the robot will be able to traverse such patch from left to right. The classifier is trained for a specific robot model (wheeled, tracked, legged, snake-like) using simulation data on procedurally generated training terrains; the trained classifier can be applied to unseen large heightmaps to yield oriented traversability maps, and then plan traversable paths. We extensively evaluate the approach in simulation on six real-world elevation datasets, and run a real-robot validation in one indoor and one outdoor environment.Comment: Webpage: http://romarcg.xyz/traversability_estimation

    Physics Beyond the Standard Model: Focusing on the Muon Anomaly

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    We present a model based on the implication of an exceptional E_{6}-GUT symmetry for the anomalous magnetic moment of the muon. We follow a particular chain of breakings with Higgses in the 78 and 351 representations. We analyse the radiative correction contributions to the muon mass and the effects of the breaking of the so-called Weinberg symmetry. We also estimate the range of values of the parameters of our model.Comment: 14 RevTeX pages, 5 figure

    The Dark Energy Equation of State using Alternative High-z Cosmic Tracers

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    We propose to use alternative cosmic tracers to measure the dark energy equation of state and the matter content of the Universe [w(z) & Omega_m]. Our proposed method consists of two components: (a) tracing the Hubble relation using HII galaxies which can be detected up to very large redshifts, z~4, as an alternative to supernovae type Ia, and (b) measuring the clustering pattern of X-ray selected AGN at a median redshift of z~1. Each component of the method can in itself provide interesting constraints on the cosmological parameters, especially under our anticipation that we will reduce the corresponding random and systematic errors significantly. However, by joining their likelihood functions we will be able to put stringent cosmological constraints and break the known degeneracies between the dark energy equation of state (whether it is constant or variable) and the matter content of the universe and provide a powerful and alternative route to measure the contribution to the global dynamics and the equation of state of dark energy. A preliminary joint analysis of X-ray selected AGN (based on the largest to-date XMM survey; the 2XMM) and the currently largest SNIa sample (Hicken et al.), using as priors a flat universe and the WMAP5 normalization of the power-spectrum, provides: Omega_m=0.27+-0.02 and w=-0.96+-0.07. Equivalent and consistent results are provided by the joint analysis of X-ray selected AGN clustering and the latest Baryonic Acoustic Oscillation measures, providing: Omega_m=0.27+-0.02 and w=-0.97+-0.04.Comment: Different versions of this paper appear in the "Dark Universe" conference (Paris, July 2009) and in the "1st Mediterranean Conference in Classical & Quantum Gravity" (invited
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