WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria

Gauge transformations in the Lagrangian and Hamilton formalisms of generally covariant theories

We study spacetime diffeomorphisms in the Hamiltonian and Lagrangian formalisms of generally covariant systems. We show that the gauge group for such a system is characterized by having generators which are projectable under the Legendre map. The gauge group is found to be much larger than the original group of spacetime diffeomorphisms, since its generators must depend on the lapse function and shift vector of the spacetime metric in a given coordinate patch. Our results are generalizations of earlier results by Salisbury and Sundermeyer. They arise in a natural way from using the requirement of equivalence between Lagrangian and Hamiltonian formulations of the system, and they are new in that the symmetries are realized on the full set of phase space variables. The generators are displayed explicitly and are applied to the relativistic string and to general relativity.

Dimensional reduction and gauge group reduction in Bianchi-type cosmology

In this paper we examine in detail the implementation, with its associated difficulties, of the Killing conditions and gauge fixing into the variational principle formulation of Bianchi-type cosmologies. We address problems raised in the literature concerning the Lagrangian and the Hamiltonian formulations: We prove their equivalence, make clear the role of the homogeneity preserving diffeomorphisms in the phase space approach, and show that the number of physical degrees of freedom is the same in the Hamiltonian and Lagrangian formulations. Residual gauge transformations play an important role in our approach, and we suggest that Poincaré transformations for special relativistic systems can be understood as residual gauge transformations. In the Appendixes, we give the general computation of the equations of motion and the Lagrangian for any Bianchi-type vacuum metric and for spatially homogeneous Maxwell fields in a nondynamical background (with zero currents). We also illustrate our counting of degrees of freedom in an appendix.

Gauge group and reality conditions in Ashtekar's complex formulation of canonical gravity

We discuss reality conditions and the relation between spacetime diffeomorphisms and gauge transformations in Ashtekars complex formulation of general relativity. We produce a general theoretical framework for the stabilization algorithm for the reality conditions, which is different from Diracs method of stabilization of constraints. We solve the problem of the projectability of the diffeomorphism transformations from configuration-velocity space to phase space, linking them to the reality conditions. We construct the complete set of canonical generators of the gauge group in the phase space which includes all the gauge variables. This result proves that the canonical formalism has all the gauge structure of the Lagrangian theory, including the time diffeomorphisms.

Derivation of the gauge-invariant action for open and closed free bosonic string field theories

The gauge-invariant actions for open and closed free bosonic string field theories are obtained from the string field equations in the conformal gauge using the cohomology operations of Banks and Peskin. For the closed-string theory no restrictions are imposed on the gauge parameters.

Lagrangian and Hamiltonian BRST structures of the antysimmetric tensor gauge theory

We study the Becchi-Rouet-Stora-Tyutin (BRST) structure of a self-interacting antisymmetric tensor gauge field, which has an on-shell null-vector gauge transformation. The Batalin-Vilkovisky covariant general formalism is briefly reviewed, and the issue of on-shell nilpotency of the BRST transformation is elucidated. We establish the connection between the covariant and the canonical BRST formalisms for our particular theory. Finally, we point out the similarities and differences with Wittens string field theory.

Constraints on additional Z' gauge bosons from a precise measurement of the Z mass

We analyze the constraints on the mass and mixing of a superstring-inspired E6 Z' neutral gauge boson that follow from the recent precise Z mass measurements and show that they depend very sensitively on the assumed value of the W mass and also, to a lesser extent, on the top-quark mass.

Renormalization of gauge-invariant operators and the axial anomaly

The renormalization properties of gauge-invariant composite operators that vanish when the classical equations of motion are used (class II^a operators) and which lead to diagrams where the Adler-Bell-Jackiw anomaly occurs are discussed. It is shown that gauge-invariant operators of this kind do need, in general, nonvanishing gauge-invariant (class I) counterterms.

Gauge-invariant actions from constraint Hamiltonian dynamics

Dirac's constraint Hamiltonian formalism is used to construct a gauge-invariant action for the massive spin-one and -two fields.

Equivalence of reduced, Polyakov, Faddeev-Popov, and Faddeev path-integral quantization of gauge theories

A geometrical treatment of the path integral for gauge theories with first-class constraints linear in the momenta is performed. The equivalence of reduced, Polyakov, Faddeev-Popov, and Faddeev path-integral quantization of gauge theories is established. In the process of carrying this out we find a modified version of the original Faddeev-Popov formula which is derived under much more general conditions than the usual one. Throughout this paper we emphasize the fact that we only make use of the information contained in the action for the system, and of the natural geometrical structures derived from it.

Symmetry breaking in small rotating clouds of trapped ultracold Bose atoms

We study the signatures of rotational and phase symmetry breaking in small rotating clouds of trapped ultracold Bose atoms by looking at rigorously defined condensate wave function. Rotational symmetry breaking occurs in narrow frequency windows, where energy degeneracy between the lowest energy states of different total angular momentum takes place. This leads to a complex condensate wave function that exhibits vortices clearly seen as holes in the density, as well as characteristic local phase patterns, reflecting the appearance of vorticities. Phase symmetry (or gauge symmetry) breaking, on the other hand, is clearly manifested in the interference of two independent rotating clouds.

Gauge transformations in Einstein-Yang-Mills theories

We discuss the relation between spacetime diffeomorphisms and gauge transformations in theories of the YangMills type coupled with Einsteins general relativity. We show that local symmetries of the Hamiltonian and Lagrangian formalisms of these generally covariant gauge systems are equivalent when gauge transformations are required to induce transformations which are projectable under the Legendre map. Although pure YangMills gauge transformations are projectable by themselves, diffeomorphisms are not. Instead, the projectable symmetry group arises from infinitesimal diffeomorphism-inducing transformations which must depend on the lapse function and shift vector of the spacetime metric plus associated gauge transformations. Our results are generalizations of earlier results by ourselves and by Salisbury and Sundermeyer. 2000 American Institute of Physics.