Extracting ππ\pi\pi SS-wave scattering lengths from cusp effect in heavy quarkonium dipion transitions

Charge-exchange rescattering $\pi^+\pi^-\to \pi^0\pi^0$ leads to a cusp effect in the $\pi^0\pi^0$ invariant mass spectrum of processes with $\pi^0\pi^0$ in the final state which can be used to measure $\pi\pi$ $S$-wave scattering lengths. Employing a non-relativistic effective field theory, we discuss the possibility of extracting the scattering lengths in heavy quarkonium $\pi^0\pi^0$ transitions. The transition $\Upsilon(3S)\to\Upsilon(2S)\pi^0\pi^0$ is studied in details. We discuss the precision that can be reached in such an extraction for a certain number of events.Comment: 15 pages, 7 figures, 1 tabl

Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform

In this paper, a hierarchical multi-UAV simulation platform,called XTDrone, is designed for UAV swarms, which is completely open-source 4 . There are six layers in XTDrone: communication, simulator,low-level control, high-level control, coordination, and human interac-tion layers. XTDrone has three advantages. Firstly, the simulation speedcan be adjusted to match the computer performance, based on the lock-step mode. Thus, the simulations can be conducted on a work stationor on a personal laptop, for different purposes. Secondly, a simplifiedsimulator is also developed which enables quick algorithm designing sothat the approximated behavior of UAV swarms can be observed inadvance. Thirdly, XTDrone is based on ROS, Gazebo, and PX4, andhence the codes in simulations can be easily transplanted to embeddedsystems. Note that XTDrone can support various types of multi-UAVmissions, and we provide two important demos in this paper: one is aground-station-based multi-UAV cooperative search, and the other is adistributed UAV formation flight, including consensus-based formationcontrol, task assignment, and obstacle avoidance.Comment: 12 pages, 10 figures. And for the, see https://gitee.com/robin_shaun/XTDron