Path planning with far-away obstacles detection under uncertainty

[Resumen] Hoy en día se están investigando robots de exploración terrestre y espacial más rápidos en respuesta a la creciente demanda de capacidades de exploración e investigación más rápidas, eficaces y rentables. Para estas plataformas móviles rápidas la identificación y evasión de obstáculos lejanos son críticas, ya que su alta velocidad implica la necesidad de tener en cuenta el mayor número posible de obstáculos cercanos y lejanos para el cálculo de la trayectoria global, evitando cualquier posible accidente debido a su velocidad y al tiempo de cálculo de los algoritmos de replanificación. Debido a su distancia, los obstáculos lejanos no se incluyen en los mapas locales, que están limitados por el alcance de las cámaras de profundidad. Por estas razones, este artículo propone el uso de técnicas de Inteligencia Artificial para detectarlos a partir de imágenes y estimar sus tamaños y posiciones con un cierto grado de incertidumbre. Los obstáculos detectados se incluirán posteriormente en los mapas globales, corrigiendo la trayectoria global en caso de colisionar con ellos.[Abstract] Nowadays faster terrestrial and space exploration robots are being investigated, in response to the growing demand for faster, more efficient, and cost-effective exploration and research apabilities. For these rapid mobile platforms, the identification and avoidance of far obstacles are critical, since their high speed implies the need to take into account as many near and far obstacles as possible for the global path computation, avoiding any possible accident due to their speed and the computation time of the replanning algorithms. Due to their distance, the far obstacles are not included within the local maps, which are limited by the range of the depth cameras. For these reasons, this paper proposes the use of Artificial Intelligence techniques to detect them from images and estimate their sizes and positions with a certain degree of uncertainty. The detected obstacles will be later included in the global maps, correcting the global path in case it collides with them

Path planning with far-away obstacles detection under uncertainty.

Nowadays faster terrestrial and space exploration robots are being investigated, in response to the growing demand for faster, more efficient, and cost-effective exploration and research capabilities. For these rapid mobile platforms, the identification and avoidance of far obstacles are critical, since their high speed implies the need to take into account as many near and far obstacles as possible for the global path computation, avoiding any possible accident due to their speed and the computation time of the replanning algorithms. Due to their distance, the far obstacles are not included within the local maps, which are limited by the range of the depth cameras. For these reasons, this paper proposes the use of Artificial Intelligence techniques to detect them from images and estimate their sizes and positions with a certain degree of uncertainty. The detected obstacles will be later included in the global maps, correcting the global path in case it collides with them.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Detección y recogida de muestras por vehículos de exploración planetaria

Las futuras misiones de exploración planetaria exigen cada vez más autonomía, ya que estas misiones son cada vez más complejas. Un ejemplo claro es la misión de retorno de muestras a Marte, en la que el Sample Fetch Rover debe recoger tubos de muestras en un lugar remoto y llevarlos de vuelta a la estación base para lanzarlos a la Tierra. Esta misión requiere ampliar las capacidades autónomas a bordo. En primer lugar, el componente de navegación debe ser capaz de detectar y localizar los tubos de muestra, y en segundo lugar, los de guiado y control deben situar el rover cerca de los tubos de muestra y mover el manipulador para recogerlos. Estas son las principales aportaciones de este trabajo. La primera cuestión se ha resuelto mediante el uso de Redes Neuronales Profundas, que permiten identificar los tubos de muestra previamente entrenados en imágenes, y la segunda se ha resuelto ampliando el algoritmo de planificación de trayectorias dentro del componente de Guiado. Para demostrar y validar los métodos propuestos, se han realizado dos experimentos. Una primera prueba de campo en el terreno experimental de Búsqueda y Rescate de la Universidad de Málaga, y una segunda prueba de laboratorio en el Laboratorio de Robótica Planetaria de la Agencia Espacial Europea. Ambos experimentos se llevaron a cabo utilizando el Rover de Pruebas ExoMars, propiedad de esta última institución.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Samples detection and retrieval for a sample fetch rover

Future planetary exploration missions are demanding more and more autonomy since these missions are getting more complex. A clear example is the Mars Sample Return mission, where the Sample Fetch Rover needs to collect sample tubes on a remote location, and bring them back to the base station to be launched to Earth. This mission requires to extend the autonomous capabilities onboard. First, the Navigation component needs to be able to detect and locate the sample tubes, and second, the Guidance and Control ones require to place the rover close the sample tubes and move the manipulator to pick them up. These are the main contributions of this paper. The first issue has been solved by the use of Deep Neural Networks, which allow to identify the previously trained sample tubes on images, and the second one has been solved by extending the path planning algorithm within the Guidance component. To demonstrate and validate the proposed methods, two experiments were carried out. A first field test in the Search and Rescue experimental terrain at the University of Malaga, and a second lab test in the Planetary Robotics Lab at the European Space Agency. Both experiments were carried out using the ExoMars Testing Rover owned by the last institution.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Corob-x: a cooperative robot team for the exploration of lunar skylights

The project CoRob-X develops and demonstrates enabling technologies for multi-agent robotic teams to explore planetary surfaces with a focus on hard-to-reach areas where a collaborative scheme is required to efficiently explore complex environments. Exploring lava tubes is such a challenging environment and requires a team of robots able to collaborate in an autonomous way to find their way to the subsurface tube system, descend through a natural entry hole (the so-called skylight), and explore the interior with payload instruments to provide scientific data. The developed robotic exploration system that will tackle the ambitious goal is composed of three rovers with substantially different technical characteristics. The paper presents the overall approach, i.e., the control architecture, the robotic systems, and the software to be used. It also showcases the selected mission phases that will be demonstrated in a field-test campaign. In addition, a terrestrial mining use case is presented that demonstrates how the developed autonomy-enabling software can be transferred to terrestrial applications.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Search for dark matter produced in association with bottom or top quarks in √s = 13 TeV pp collisions with the ATLAS detector

A search for weakly interacting massive particle dark matter produced in association with bottom or top quarks is presented. Final states containing third-generation quarks and miss- ing transverse momentum are considered. The analysis uses 36.1 fb−1 of proton–proton collision data recorded by the ATLAS experiment at √s = 13 TeV in 2015 and 2016. No significant excess of events above the estimated backgrounds is observed. The results are in- terpreted in the framework of simplified models of spin-0 dark-matter mediators. For colour- neutral spin-0 mediators produced in association with top quarks and decaying into a pair of dark-matter particles, mediator masses below 50 GeV are excluded assuming a dark-matter candidate mass of 1 GeV and unitary couplings. For scalar and pseudoscalar mediators produced in association with bottom quarks, the search sets limits on the production cross- section of 300 times the predicted rate for mediators with masses between 10 and 50 GeV and assuming a dark-matter mass of 1 GeV and unitary coupling. Constraints on colour- charged scalar simplified models are also presented. Assuming a dark-matter particle mass of 35 GeV, mediator particles with mass below 1.1 TeV are excluded for couplings yielding a dark-matter relic density consistent with measurements

Measurements of the charge asymmetry in top-quark pair production in the dilepton final state at s √ =8 TeV with the ATLAS detector

Measurements of the top-antitop quark pair production charge asymmetry in the dilepton channel, characterized by two high-pT leptons (electrons or muons), are presented using data corresponding to an integrated luminosity of 20.3  fb−1 from pp collisions at a center-of-mass energy s√=8  TeV collected with the ATLAS detector at the Large Hadron Collider at CERN. Inclusive and differential measurements as a function of the invariant mass, transverse momentum, and longitudinal boost of the tt¯ system are performed both in the full phase space and in a fiducial phase space closely matching the detector acceptance. Two observables are studied: AℓℓC based on the selected leptons and Att¯C based on the reconstructed tt¯ final state. The inclusive asymmetries are measured in the full phase space to be AℓℓC=0.008±0.006 and Att¯C=0.021±0.016, which are in agreement with the Standard Model predictions of AℓℓC=0.0064±0.0003 and Att¯C=0.0111±0.0004

Measurement of the dependence of transverse energy production at large pseudorapidity on the hard-scattering kinematics of proton-proton collisions at √s=2.76 TeV with ATLAS

The relationship between jet production in the central region and the underlying-event activity in a pseudorapidity-separated region is studied in 4.0 pb-1 of s=2.76 TeV pp collision data recorded with the ATLAS detector at the LHC. The underlying event is characterised through measurements of the average value of the sum of the transverse energy at large pseudorapidity downstream of one of the protons, which are reported here as a function of hard-scattering kinematic variables. The hard scattering is characterised by the average transverse momentum and pseudorapidity of the two highest transverse momentum jets in the event. The dijet kinematics are used to estimate, on an event-by-event basis, the scaled longitudinal momenta of the hard-scattered partons in the target and projectile beam-protons moving toward and away from the region measuring transverse energy, respectively. Transverse energy production at large pseudorapidity is observed to decrease with a linear dependence on the longitudinal momentum fraction in the target proton and to depend only weakly on that in the projectile proton. The results are compared to the predictions of various Monte Carlo event generators, which qualitatively reproduce the trends observed in data but generally underpredict the overall level of transverse energy at forward pseudorapidity

Measurement of W boson angular distributions in events with high transverse momentum jets at s√= 8 TeV using the ATLAS detector

The W boson angular distribution in events with high transverse momentum jets is measured using data collected by the ATLAS experiment from proton–proton collisions at a centre-of-mass energy at the Large Hadron Collider, corresponding to an integrated luminosity of . The focus is on the contributions to processes from real W emission, which is achieved by studying events where a muon is observed close to a high transverse momentum jet. At small angular separations, these contributions are expected to be large. Various theoretical models of this process are compared to the data in terms of the absolute cross-section and the angular distributions of the muon from the leptonic W decay.Fil: Aaboud, M.. Université Mohamed Premier and LPTPM; MarruecosFil: Aad, G.. Aix-Marseille Université ; FranciaFil: Abbott, B.. Oklahoma State University; Estados UnidosFil: Abdallah, J.. Academia Sinica; ChinaFil: Abdinov, O.. Azerbaijan Academy of Sciences; AzerbaiyánFil: Alconada Verzini, María Josefina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Física La Plata. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Instituto de Física La Plata; ArgentinaFil: Alonso, Francisco. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Física La Plata. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Instituto de Física La Plata; ArgentinaFil: Arduh, Francisco Anuar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Física La Plata. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Instituto de Física La Plata; ArgentinaFil: Dova, Maria Teresa. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Física La Plata. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Instituto de Física La Plata; ArgentinaFil: Hoya, Joaquín. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Física La Plata. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Instituto de Física La Plata; ArgentinaFil: Monticelli, Fernando Gabriel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Física La Plata. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Instituto de Física La Plata; ArgentinaFil: Wahlberg, Hernan Pablo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Física La Plata. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Instituto de Física La Plata; ArgentinaFil: Bossio Sola, Jonathan David. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Física de Buenos Aires. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Física de Buenos Aires; ArgentinaFil: Marceca, Gino. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Física de Buenos Aires. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Física de Buenos Aires; ArgentinaFil: Otero y Garzon, Gustavo Javier. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Física de Buenos Aires. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Física de Buenos Aires; ArgentinaFil: Piegaia, Ricardo Nestor. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Física de Buenos Aires. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Física de Buenos Aires; ArgentinaFil: Sacerdoti, Sabrina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Física de Buenos Aires. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Física de Buenos Aires; ArgentinaFil: Zibell. A.. Julius-Maximilians-Universität ; AlemaniaFil: Zieminska, D.. Indiana University; Estados UnidosFil: Zimine, N. I.. Joint Institute for Nuclear Research; RusiaFil: Zimmermann, C.. Universität Mainz ; AlemaniaFil: Zimmermann, S.. Albert-Ludwigs-Universität ; AlemaniaFil: Zinonos, Z.. Georg-August-Universität ; AlemaniaFil: Zinser, M.. Universität Mainz ; AlemaniaFil: Ziolkowski, M.. Universität Siegen ; AlemaniaFil: Živković, L.. University of Belgrade ; SerbiaFil: Zobernig, G.. University of Wisconsin; Estados UnidosFil: Zoccoli, A.. Università di Bologna ; ItaliaFil: Nedden, M. zur. Humboldt University; AlemaniaFil: Zurzolo, G.. Università di Napoli; ItaliaFil: Zwalinski, L.. Cern - European Organization For Nuclear Research; SuizaFil: The ATLAS Collaboration. No especifica

Study of the B-c(+) -> J/psi D-s(+) and Bc(+) -> J/psi D-s*(+) decays with the ATLAS detector

The decays B-c(+) -> J/psi D-s(+) and B-c(+) -> J/psi D-s*(+) are studied with the ATLAS detector at the LHC using a dataset corresponding to integrated luminosities of 4.9 and 20.6 fb(-1) of pp collisions collected at centre-of-mass energies root s = 7 TeV and 8 TeV, respectively. Signal candidates are identified through J/psi -> mu(+)mu(-) and D-s(()*()+) -> phi pi(+)(gamma/pi(0)) decays. With a two-dimensional likelihood fit involving the B-c(+) reconstructed invariant mass and an angle between the mu(+) and D-s(+) candidate momenta in the muon pair rest frame, the yields of B-c(+) -> J/psi D-s(+) and B-c(+) -> J/psi D-s*(+), and the transverse polarisation fraction in B-c(+) -> J/psi D-s*(+) decay are measured. The transverse polarisation fraction is determined to be Gamma +/-+/-(B-c(+) -> J/psi D-s*(+))/Gamma(B-c(+) -> J/psi D-s*(+)) = 0.38 +/- 0.23 +/- 0.07, and the derived ratio of the branching fractions of the two modes is B-Bc+ -> J/psi D-s*+/B-Bc+ -> J/psi D-s(+) = 2.8(-0.8)(+1.2) +/- 0.3, where the first error is statistical and the second is systematic. Finally, a sample of B-c(+) -> J/psi pi(+) decays is used to derive the ratios of branching fractions B-Bc+ -> J/psi D-s*+/B-Bc+ -> J/psi pi(+) = 3.8 +/- 1.1 +/- 0.4 +/- 0.2 and B-Bc+ -> J/psi D-s*+/B-Bc+ -> J/psi pi(+) = 10.4 +/- 3.1 +/- 1.5 +/- 0.6, where the third error corresponds to the uncertainty of the branching fraction of D-s(+) -> phi(K+ K-)pi(+) decay. The available theoretical predictions are generally consistent with the measurement