70 research outputs found
Shared task representation for human–robot collaborative navigation: the collaborative search case
© The Author(s) 2023Recent research in Human Robot Collaboration (HRC) has spread and specialised in many sub-fields. Many show considerable advances, but the human–robot collaborative navigation (HRCN) field seems to be stuck focusing on implicit collaboration settings, on hypothetical or simulated task allocation problems, on shared autonomy or on having the human as a manager. This work takes a step forward by presenting an end-to-end system capable of handling real-world human–robot collaborative navigation tasks. This system makes use of the Social Reward Sources model (SRS), a knowledge representation to simultaneously tackle task allocation and path planning, proposes a multi-agent Monte Carlo Tree Search (MCTS) planner for human–robot teams, presents the collaborative search as a testbed for HRCN and studies the usage of smartphones for communication in this setting. The detailed experiments prove the viability of the approach, explore collaboration roles adopted by the human–robot team and test the acceptability and utility of different communication interface designs.Open Access funding provided thanks to the CRUE-CSIC agreement with Springer Nature. This work was supported under the Spanish State Research Agency through the Maria de Maeztu Seal of Excellence to IRI (MDM-2016-0656) and ROCOTRANSP project (PID2019- 106702RB-C21 / AEI / 10.13039/501100011033), the European research grant TERRINet (H2020-INFRAIA-2017-1-730994) and by JST Moonshot R & D Grant Number JPMJMS2011-85.Peer ReviewedPostprint (published version
Anisotropic flow of charged hadrons, pions and (anti-)protons measured at high transverse momentum in Pb-Pb collisions at TeV
The elliptic, , triangular, , and quadrangular, , azimuthal
anisotropic flow coefficients are measured for unidentified charged particles,
pions and (anti-)protons in Pb-Pb collisions at TeV
with the ALICE detector at the Large Hadron Collider. Results obtained with the
event plane and four-particle cumulant methods are reported for the
pseudo-rapidity range at different collision centralities and as a
function of transverse momentum, , out to GeV/.
The observed non-zero elliptic and triangular flow depends only weakly on
transverse momentum for GeV/. The small dependence
of the difference between elliptic flow results obtained from the event plane
and four-particle cumulant methods suggests a common origin of flow
fluctuations up to GeV/. The magnitude of the (anti-)proton
elliptic and triangular flow is larger than that of pions out to at least
GeV/ indicating that the particle type dependence persists out
to high .Comment: 16 pages, 5 captioned figures, authors from page 11, published
version, figures at http://aliceinfo.cern.ch/ArtSubmission/node/186
Centrality dependence of charged particle production at large transverse momentum in Pb-Pb collisions at TeV
The inclusive transverse momentum () distributions of primary
charged particles are measured in the pseudo-rapidity range as a
function of event centrality in Pb-Pb collisions at
TeV with ALICE at the LHC. The data are presented in the range
GeV/ for nine centrality intervals from 70-80% to 0-5%.
The Pb-Pb spectra are presented in terms of the nuclear modification factor
using a pp reference spectrum measured at the same collision
energy. We observe that the suppression of high- particles strongly
depends on event centrality. In central collisions (0-5%) the yield is most
suppressed with at -7 GeV/. Above
GeV/, there is a significant rise in the nuclear modification
factor, which reaches for GeV/. In
peripheral collisions (70-80%), the suppression is weaker with almost independently of . The measured nuclear
modification factors are compared to other measurements and model calculations.Comment: 17 pages, 4 captioned figures, 2 tables, authors from page 12,
published version, figures at
http://aliceinfo.cern.ch/ArtSubmission/node/284
Charge separation relative to the reaction plane in Pb-Pb collisions at TeV
Measurements of charge dependent azimuthal correlations with the ALICE
detector at the LHC are reported for Pb-Pb collisions at TeV. Two- and three-particle charge-dependent azimuthal correlations in
the pseudo-rapidity range are presented as a function of the
collision centrality, particle separation in pseudo-rapidity, and transverse
momentum. A clear signal compatible with a charge-dependent separation relative
to the reaction plane is observed, which shows little or no collision energy
dependence when compared to measurements at RHIC energies. This provides a new
insight for understanding the nature of the charge dependent azimuthal
correlations observed at RHIC and LHC energies.Comment: 12 pages, 3 captioned figures, authors from page 2 to 6, published
version, figures at http://aliceinfo.cern.ch/ArtSubmission/node/286
A note on comonotonicity and positivity of the control components of decoupled quadratic FBSDE
In this small note we are concerned with the solution of Forward-Backward
Stochastic Differential Equations (FBSDE) with drivers that grow quadratically
in the control component (quadratic growth FBSDE or qgFBSDE). The main theorem
is a comparison result that allows comparing componentwise the signs of the
control processes of two different qgFBSDE. As a byproduct one obtains
conditions that allow establishing the positivity of the control process.Comment: accepted for publicatio
Measurement of charm production at central rapidity in proton-proton collisions at TeV
The -differential production cross sections of the prompt (B
feed-down subtracted) charmed mesons D, D, and D in the rapidity
range , and for transverse momentum GeV/, were
measured in proton-proton collisions at TeV with the ALICE
detector at the Large Hadron Collider. The analysis exploited the hadronic
decays DK, DK, DD, and their charge conjugates, and was performed on a
nb event sample collected in 2011 with a
minimum-bias trigger. The total charm production cross section at TeV and at 7 TeV was evaluated by extrapolating to the full phase space
the -differential production cross sections at TeV
and our previous measurements at TeV. The results were compared
to existing measurements and to perturbative-QCD calculations. The fraction of
cdbar D mesons produced in a vector state was also determined.Comment: 20 pages, 5 captioned figures, 4 tables, authors from page 15,
published version, figures at
http://aliceinfo.cern.ch/ArtSubmission/node/307
Transverse sphericity of primary charged particles in minimum bias proton-proton collisions at , 2.76 and 7 TeV
Measurements of the sphericity of primary charged particles in minimum bias
proton--proton collisions at , 2.76 and 7 TeV with the ALICE
detector at the LHC are presented. The observable is linearized to be collinear
safe and is measured in the plane perpendicular to the beam direction using
primary charged tracks with GeV/c in . The
mean sphericity as a function of the charged particle multiplicity at
mid-rapidity () is reported for events with different
scales ("soft" and "hard") defined by the transverse momentum of the leading
particle. In addition, the mean charged particle transverse momentum versus
multiplicity is presented for the different event classes, and the sphericity
distributions in bins of multiplicity are presented. The data are compared with
calculations of standard Monte Carlo event generators. The transverse
sphericity is found to grow with multiplicity at all collision energies, with a
steeper rise at low , whereas the event generators show the
opposite tendency. The combined study of the sphericity and the mean with multiplicity indicates that most of the tested event generators
produce events with higher multiplicity by generating more back-to-back jets
resulting in decreased sphericity (and isotropy). The PYTHIA6 generator with
tune PERUGIA-2011 exhibits a noticeable improvement in describing the data,
compared to the other tested generators.Comment: 21 pages, 9 captioned figures, 3 tables, authors from page 16,
published version, figures from
http://aliceinfo.cern.ch/ArtSubmission/node/308
Measurement of event background fluctuations for charged particle jet reconstruction in Pb-Pb collisions at TeV
The effect of event background fluctuations on charged particle jet
reconstruction in Pb-Pb collisions at TeV has been
measured with the ALICE experiment. The main sources of non-statistical
fluctuations are characterized based purely on experimental data with an
unbiased method, as well as by using single high particles and
simulated jets embedded into real Pb-Pb events and reconstructed with the
anti- jet finder. The influence of a low transverse momentum cut-off
on particles used in the jet reconstruction is quantified by varying the
minimum track between 0.15 GeV/ and 2 GeV/. For embedded jets
reconstructed from charged particles with GeV/, the
uncertainty in the reconstructed jet transverse momentum due to the heavy-ion
background is measured to be 11.3 GeV/ (standard deviation) for the 10% most
central Pb-Pb collisions, slightly larger than the value of 11.0 GeV/
measured using the unbiased method. For a higher particle transverse momentum
threshold of 2 GeV/, which will generate a stronger bias towards hard
fragmentation in the jet finding process, the standard deviation of the
fluctuations in the reconstructed jet transverse momentum is reduced to 4.8-5.0
GeV/ for the 10% most central events. A non-Gaussian tail of the momentum
uncertainty is observed and its impact on the reconstructed jet spectrum is
evaluated for varying particle momentum thresholds, by folding the measured
fluctuations with steeply falling spectra.Comment: 21 pages, 5 captioned figures, 3 tables, authors from page 16,
published version, figures at
http://aliceinfo.cern.ch/ArtSubmission/node/350
Transverse momentum spectra of charged particles in proton-proton collisions at GeV with ALICE at the LHC
The inclusive charged particle transverse momentum distribution is measured
in proton-proton collisions at GeV at the LHC using the ALICE
detector. The measurement is performed in the central pseudorapidity region
over the transverse momentum range GeV/.
The correlation between transverse momentum and particle multiplicity is also
studied. Results are presented for inelastic (INEL) and non-single-diffractive
(NSD) events. The average transverse momentum for is (stat.) (syst.) GeV/ and
\left_{\rm NSD}=0.489\pm0.001 (stat.) (syst.)
GeV/, respectively. The data exhibit a slightly larger than measurements in wider pseudorapidity intervals. The results are
compared to simulations with the Monte Carlo event generators PYTHIA and
PHOJET.Comment: 20 pages, 8 figures, 2 tables, published version, figures at
http://aliceinfo.cern.ch/ArtSubmission/node/390
Inclusive J/psi production in pp collisions at sqrt(s) = 2.76 TeV
The ALICE Collaboration has measured inclusive J/psi production in pp
collisions at a center of mass energy sqrt(s)=2.76 TeV at the LHC. The results
presented in this Letter refer to the rapidity ranges |y|<0.9 and 2.5<y<4 and
have been obtained by measuring the electron and muon pair decay channels,
respectively. The integrated luminosities for the two channels are L^e_int=1.1
nb^-1 and L^mu_int=19.9 nb^-1, and the corresponding signal statistics are
N_J/psi^e+e-=59 +/- 14 and N_J/psi^mu+mu-=1364 +/- 53. We present
dsigma_J/psi/dy for the two rapidity regions under study and, for the forward-y
range, d^2sigma_J/psi/dydp_t in the transverse momentum domain 0<p_t<8 GeV/c.
The results are compared with previously published results at sqrt(s)=7 TeV and
with theoretical calculations.Comment: 7 figures, 3 tables, accepted for publication in Phys. Lett.
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