Path-Tree Optimization in Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs

Robots often need to solve path planning problems where essential and discrete aspects of the environment are partially observable. This introduces a multi-modality, where the robot must be able to observe and infer the state of its environment. To tackle this problem, we introduce the Path-Tree Optimization (PTO) algorithm which plans a path-tree in belief-space. A path-tree is a tree-like motion with branching points where the robot receives an observation leading to a belief-state update. The robot takes different branches depending on the observation received. The algorithm has three main steps. First, a rapidly-exploring random graph (RRG) on the state space is grown. Second, the RRG is expanded to a belief-space graph by querying the observation model. In a third step, dynamic programming is performed on the belief-space graph to extract a path-tree. The resulting path-tree combines exploration with exploitation i.e. it balances the need for gaining knowledge about the environment with the need for reaching the goal. We demonstrate the algorithm capabilities on navigation and mobile manipulation tasks, and show its advantage over a baseline using a task and motion planning approach (TAMP) both in terms of optimality and runtime.Comment: Also submitted to IROS 2022 and RA-

Head-to-head domain walls in one-dimensional nanostructures: an extended phase diagram ranging from strips to cylindrical wires

International audienceSo far magnetic domain walls in one-dimensional structures have been described theoretically only in the cases of flat strips, or cylindrical structures with a compact cross-section, either square or disk. Here we describe an extended phase diagram unifying the two pictures, extensively covering the (width,thickness) space. It is derived on the basis of symmetry and phase-transition arguments, and micromagnetic simulations. A simple classification of all domain walls in two varieties is proposed on the basis of their topology: either with a combined transverse/vortex character, or of the Bloch-point type. The exact arrangement of magnetization within each variety results mostly from the need to decrease dipolar energy, giving rise to asymmetric and curling structures. Numerical evaluators are introduced to quantify curling, and scaling laws are derived analytically for some of the iso-energy lines of the phase diagram

Asymmetric hysteresis of N\'eel caps in flux-closure magnetic dots

We investigated with XMCD-PEEM magnetic imaging the magnetization reversal processes of N\'eel caps inside Bloch walls in self-assembled, micron-sized Fe(110) dots with flux-closure magnetic state. In most cases the magnetic-dependent processes are symmetric in field, as expected. However, some dots show pronounced asymmetric behaviors. Micromagnetic simulations suggest that the geometrical features (and their asymmetry) of the dots strongly affect the switching mechanism of the N\'eel caps.Comment: Proceeding for MMM-Intermag 2010 (Washington

Observation of Bloch-point domain walls in cylindrical magnetic nanowires

Topological protection is an elegant way of warranting the integrity of quantum and nanosized systems. In magnetism one example is the Bloch-point, a peculiar object implying the local vanishing of magnetization within a ferromagnet. Its existence had been postulated and described theoretically since several decades, however it has never been observed. We con rm experimentally the existence of Bloch points, imaged within domain walls in cylindrical magnetic nanowires, combining surface and transmission XMCD-PEEM magnetic microscopy. This opens the way to the experimental search for peculiar phenomena predicted during the motion of Bloch-point-based domain walls

EchoFusion: Tracking and Reconstruction of Objects in 4D Freehand Ultrasound Imaging without External Trackers

Ultrasound (US) is the most widely used fetal imaging technique. However, US images have limited capture range, and suffer from view dependent artefacts such as acoustic shadows. Compounding of overlapping 3D US acquisitions into a high-resolution volume can extend the field of view and remove image artefacts, which is useful for retrospective analysis including population based studies. However, such volume reconstructions require information about relative transformations between probe positions from which the individual volumes were acquired. In prenatal US scans, the fetus can move independently from the mother, making external trackers such as electromagnetic or optical tracking unable to track the motion between probe position and the moving fetus. We provide a novel methodology for image-based tracking and volume reconstruction by combining recent advances in deep learning and simultaneous localisation and mapping (SLAM). Tracking semantics are established through the use of a Residual 3D U-Net and the output is fed to the SLAM algorithm. As a proof of concept, experiments are conducted on US volumes taken from a whole body fetal phantom, and from the heads of real fetuses. For the fetal head segmentation, we also introduce a novel weak annotation approach to minimise the required manual effort for ground truth annotation. We evaluate our method qualitatively, and quantitatively with respect to tissue discrimination accuracy and tracking robustness.Comment: MICCAI Workshop on Perinatal, Preterm and Paediatric Image analysis (PIPPI), 201

Chapitre 5 - Croiser enjeux de durabilité et leviers des politiques urbaines

L’élaboration de politiques alimentaires urbaines ne repose pas sur des démarches unifiées. Cet exercice est relativement récent et l’on dispose encore de peu de recul pour voir émerger d’éventuelles démarches aptes à appréhender la complexité des systèmes alimentaires. Les chapitres précédents ont montré que les initiatives sont nombreuses de par le monde et qu’elles ont recours à des démarches disparates. Dans ce contexte, outiller..

Voyage dans l'Empire de Flore ou Élémens d'histoire naturelle végétale : ouvrage ou l'on trouve l'analyse des Leçons du savant auteur de la "Flore atlantique"

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