On the Computation Power of Name Parameterization in Higher-order Processes

Parameterization extends higher-order processes with the capability of abstraction (akin to that in lambda-calculus), and is known to be able to enhance the expressiveness. This paper focuses on the parameterization of names, i.e. a construct that maps a name to a process, in the higher-order setting. We provide two results concerning its computation capacity. First, name parameterization brings up a complete model, in the sense that it can express an elementary interactive model with built-in recursive functions. Second, we compare name parameterization with the well-known pi-calculus, and provide two encodings between them.Comment: In Proceedings ICE 2015, arXiv:1508.0459

Radar-on-Lidar: metric radar localization on prior lidar maps

Radar and lidar, provided by two different range sensors, each has pros and cons of various perception tasks on mobile robots or autonomous driving. In this paper, a Monte Carlo system is used to localize the robot with a rotating radar sensor on 2D lidar maps. We first train a conditional generative adversarial network to transfer raw radar data to lidar data, and achieve reliable radar points from generator. Then an efficient radar odometry is included in the Monte Carlo system. Combining the initial guess from odometry, a measurement model is proposed to match the radar data and prior lidar maps for final 2D positioning. We demonstrate the effectiveness of the proposed localization framework on the public multi-session dataset. The experimental results show that our system can achieve high accuracy for long-term localization in outdoor scenes

Detecting interactions between dark matter and photons at high energy e+e−e^+e^- colliders

We investigate the sensitivity to the effective operators describing interactions between dark matter particles and photons at future high energy $e^+e^-$ colliders via the \gamma+ \slashed{E} channel. Such operators could be useful to interpret the potential gamma-ray line signature observed by the Fermi-LAT. We find that these operators can be further tested at $e^+ e^-$ colliders by using either unpolarized or polarized beams. We also derive a general unitarity condition for $2 \to n$ processes and apply it to the dark matter production process $e^+e^-\to\chi\chi\gamma$.Comment: 13 pages, 8 figure

LocNet: Global localization in 3D point clouds for mobile vehicles

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation in the global prior map. Specifically, we present a semi-handcrafted representation learning method for LiDAR point clouds using siamese LocNets, which states the place recognition problem to a similarity modeling problem. With the final learned representations by LocNet, a global localization framework with range-only observations is proposed. To demonstrate the performance and effectiveness of our global localization system, KITTI dataset is employed for comparison with other algorithms, and also on our long-time multi-session datasets for evaluation. The result shows that our system can achieve high accuracy.Comment: 6 pages, IV 2018 accepte