Bayesian Optimisation for Safe Navigation under Localisation Uncertainty

In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that are safe for navigation based on its own percepts about the environment while avoiding damage to itself. Bayesian optimisation (BO) has been successfully applied to the task of learning a model of terrain traversability while guiding the robot through more traversable areas. An issue, however, is that localisation uncertainty can end up guiding the robot to unsafe areas and distort the model being learnt. In this paper, we address this problem and present a novel method that allows BO to consider localisation uncertainty by applying a Gaussian process model for uncertain inputs as a prior. We evaluate the proposed method in simulation and in experiments with a real robot navigating over rough terrain and compare it against standard BO methods.Comment: To appear in the proceedings of the 18th International Symposium on Robotics Research (ISRR 2017

Systematic Renormalization in Hamiltonian Light-Front Field Theory: The Massive Generalization

Hamiltonian light-front field theory can be used to solve for hadron states in QCD. To this end, a method has been developed for systematic renormalization of Hamiltonian light-front field theories, with the hope of applying the method to QCD. It assumed massless particles, so its immediate application to QCD is limited to gluon states or states where quark masses can be neglected. This paper builds on the previous work by including particle masses non-perturbatively, which is necessary for a full treatment of QCD. We show that several subtle new issues are encountered when including masses non-perturbatively. The method with masses is algebraically and conceptually more difficult; however, we focus on how the methods differ. We demonstrate the method using massive phi^3 theory in 5+1 dimensions, which has important similarities to QCD.Comment: 7 pages, 2 figures. Corrected error in Eq. (11), v3: Added extra disclaimer after Eq. (2), and some clarification at end of Sec. 3.3. Final published versio

Asymptotic Freedom and Bound States in Hamiltonian Dynamics

We study a model of asymptotically free theories with bound states using the similarity renormalization group for hamiltonians. We find that the renormalized effective hamiltonians can be approximated in a large range of widths by introducing similarity factors and the running coupling constant. This approximation loses accuracy for the small widths on the order of the bound state energy and it is improved by using the expansion in powers of the running coupling constant. The coupling constant for small widths is order 1. The small width effective hamiltonian is projected on a small subset of the effective basis states. The resulting small matrix is diagonalized and the exact bound state energy is obtained with accuracy of the order of 10% using the first three terms in the expansion. We briefly describe options for improving the accuracy.Comment: plain latex file, 15 pages, 6 latex figures 1 page each, 1 tabl

Initial bound state studies in light-front QCD

We present the first numerical QCD bound state calculation based on a renormalization group-improved light-front Hamiltonian formalism. The QCD Hamiltonian is determined to second order in the coupling, and it includes two-body confining interactions. We make a momentum expansion, obtaining an equal-time-like Schrodinger equation. This is solved for quark-antiquark constituent states, and we obtain a set of self-consistent parameters by fitting B meson spectra.Comment: 38 pages, latex, 5 latex figures include

Systematic Renormalization in Hamiltonian Light-Front Field Theory

We develop a systematic method for computing a renormalized light-front field theory Hamiltonian that can lead to bound states that rapidly converge in an expansion in free-particle Fock-space sectors. To accomplish this without dropping any Fock sectors from the theory, and to regulate the Hamiltonian, we suppress the matrix elements of the Hamiltonian between free-particle Fock-space states that differ in free mass by more than a cutoff. The cutoff violates a number of physical principles of the theory, and thus the Hamiltonian is not just the canonical Hamiltonian with masses and couplings redefined by renormalization. Instead, the Hamiltonian must be allowed to contain all operators that are consistent with the unviolated physical principles of the theory. We show that if we require the Hamiltonian to produce cutoff-independent physical quantities and we require it to respect the unviolated physical principles of the theory, then its matrix elements are uniquely determined in terms of the fundamental parameters of the theory. This method is designed to be applied to QCD, but for simplicity, we illustrate our method by computing and analyzing second- and third-order matrix elements of the Hamiltonian in massless phi-cubed theory in six dimensions.Comment: 47 pages, 6 figures; improved referencing, minor presentation change

An 18S ribosomal DNA barcode for the study of Isomermis lairdi, a parasite of the blackfly Simulium damnosum s.l.

The mermithid parasite, Isomermis lairdi Mondet, Poinar & Bernadou (Nematoda: Mermithidae), is known to have a major impact on populations of Simulium damnosum s.l. Theobald (Diptera: Simuliidae) and on their efficiency as vectors of Onchocerca volvulus (Leuckart) (Nematoda: Filarioidea). However, the value of I. lairdi and other mermithid parasites as potential means of integrated vector control has not been fully realized. This is partly because traditional taxonomic approaches have been insufficient for describing and analysing important aspects of their biology and host range. In total, rDNA barcode sequences have been obtained from over 70 I. lairdi mermithids found parasitizing S. damnosum s.l. larvae in three different rivers. No two sequences were found to vary by more than 0.5%, and cytospecies identification of mermithid hosts revealed that I. lairdi with identical rDNA barcodes can parasitize multiple cytoforms of the S. damnosum complex, including S. squamosum (Enderlein). Phylogenetic analysis using a partial sequence from the 18S ribosomal DNA barcode, grouped I. lairdi in a monophyletic group with Gastromermis viridis Welch (Nematoda: Mermithidae) and Isomermis wisconsinensis Welch (Nematoda: Mermithidae)