Task allocation among multiple intelligent robots

Researchers describe the design of a decentralized mechanism for allocating assembly tasks in a multiple robot assembly workstation. Currently, the approach focuses on distributed allocation to explore its feasibility and its potential for adaptability to changing circumstances, rather than for optimizing throughput. Individual greedy robots make their own local allocation decisions using both dynamic allocation policies which propagate through a network of allocation goals, and local static and dynamic constraints describing which robots are elibible for which assembly tasks. Global coherence is achieved by proper weighting of allocation pressures propagating through the assembly plan. Deadlock avoidance and synchronization is achieved using periodic reassessments of local allocation decisions, ageing of allocation goals, and short-term allocation locks on goals

The Goldberger -- Treiman Relation, gAg_A and gπNNg_{\pi NN} at T≠0T\neq 0

The Goldberger-Treiman relation is shown to persist in the chiral limit at finite temperatures to order $O(T^2)$. The $T$ dependence of $g_A$ turns out to be the same as for $F_{\pi}$, $g_{A}(T)=g_{A}(0)(1-T^2/12F^2)$, while $g_{\pi NN}$ is temperature independent to this order. The baryon octet ${\cal D}$ and ${\cal F}$ couplings also behave as $F_{\pi}$ if only pions are massless in the pseudoscalar meson octet.Comment: 7p, NSF-ITP-93-145, BUTP-93/27, PUTP-1433, November 199

Impact for Agents

Impact for agents. Most of the agent research community has been predicting greater impact for years and many of us have been working to help the process along. Yet the tremendous growth on the research front has not been met with

Non-Perturbative Study of the Light Pseudoscalar Masses in Chiral Dynamics

We perform a non-perturbative chiral study of the masses of the lightest pseudoscalar mesons. In the calculation of the self-energies we employ the S-wave meson-meson amplitudes taken from Unitary Chiral Perturbation Theory (UCHPT) that include the lightest nonet of scalar resonances. Values for the bare masses of pions and kaons are obtained, as well as an estimate of the mass of the \eta_8. The former are found to dominate the physical pseudoscalar masses. We then match to the self-energies from Chiral Perturbation Theory (CHPT) to O(p^4), and a robust relation between several O(p^4) CHPT counterterms is obtained. We also resum higher orders from our calculated self-energies. By taking into account values determined from previous chiral phenomenological studies of m_s/\hat{m} and 3L_7+L^r_8, we determine a tighter region of favoured values for the O(p^4) CHPT counterterms 2L^r_6-L^r_4 and 2L^r_8-L^r_5. This determination perfectly overlaps with the recent determinations to O(p^6) in CHPT. We warn about a likely reduction in the value of m_s/\hat{m} by higher loop diagrams and that this is not systematically accounted for by present lattice extrapolations. We also provide a favoured interval of values for m_s/\hat{m} and 3L_7+L^r_8.Comment: 26 pages, 9 figures. Original new material is included. Major rewriting when comparing with lattice QC

Chiral two-loop pion-pion scattering parameters from crossing-symmetric constraints

Constraints on the parameters in the one- and two-loop pion-pion scattering amplitudes of standard chiral perturbation theory are obtained from explicitly crossing-symmetric sum rules. These constraints are based on a matching of the chiral amplitudes and the physical amplitudes at the symmetry point of the Mandelstam plane. The integrals over absorptive parts appearing in the sum rules are decomposed into crossing-symmetric low- and high-energy components and the chiral parameters are finally related to high-energy absorptive parts. A first application uses a simple model of these absorptive parts. The sensitivity of the results to the choice of the energy separating high and low energies is examined with care. Weak dependence on this energy is obtained as long as it stays below ~560 MeV. Reliable predictions are obtained for three two-loop parameters.Comment: 23 pages, 4 figures in .eps files, Latex (RevTex), our version of RevTex runs under Latex2.09, submitted to Phys. Rev. D,minor typographical corrections including the number at the end of the abstract, two sentences added at the end of Section 5 in answer to a referee's remar

Chiral Perturbation Theory for the Quenched Approximation of QCD

[This version is a minor revision of a previously submitted preprint. Only references have been changed.] We describe a technique for constructing the effective chiral theory for quenched QCD. The effective theory which results is a lagrangian one, with a graded symmetry group which mixes Goldstone bosons and fermions, and with a definite (though slightly peculiar) set of Feynman rules. The straightforward application of these rules gives automatic cancellation of diagrams which would arise from virtual quark loops. The techniques are used to calculate chiral logarithms in $f_K/f_\pi$, $m_\pi$, $m_K$, and the ratio of $\langle{\bar s}s\rangle$ to $\langle{\bar u}u\rangle$. The leading finite-volume corrections to these quantities are also computed. Problems for future study are described.Comment: 14 page

The Schwinger Nonet Mass and Sakurai Mass-Mixing Angle Formulae Reexamined

We study the origins of the inaccuracies of Schwinger's nonet mass, and the Sakurai mass-mixing angle, formulae for the pseudoscalar meson nonet, and suggest new versions of them, modified by the inclusion of the pseudoscalar decay constants. We use these new formulae to determine the pseudoscalar decay constants and mixing angle. The results obtained, f_8/f_\pi =1.185\pm 0.040, f_9/f_\pi =1.095\pm 0.020, f_\eta /f_\pi =1.085\pm 0.025, f_{\eta ^{'}}/f_\pi =1.195\pm 0.035, \theta =(-21.4\pm 1.0)^o, are in excellent agreement with experiment.Comment: 17 pages, LaTe

Sigma-term physics in the perturbative chiral quark model

We apply the perturbative chiral quark model (PCQM) at one loop to analyse meson-baryon sigma-terms. Analytic expressions for these quantities are obtained in terms of fundamental parameters of low-energy pion-nucleon physics (weak pion decay constant, axial nucleon coupling, strong pion-nucleon form factor) and of only one model parameter (radius of the nucleonic three-quark core). Our result for the piN sigma term of about 45 MeV is in good agreement with the value deduced by Gasser, Leutwyler and Sainio using dispersion-relation techniques and exploiting the chiral symmetry constraints.Comment: 19 pages, LaTeX-file, 2 Figure

S-wave π0\pi^0 Production in pp Collision in a Covariant OBE Model

The total cross section for the pp -> pp pi^0 reaction at energies close to threshold is calculated using a covariant one-boson-exchange model, where a boson B created on one of the incoming protons is converted into a neutral pion on the second. The amplitudes for the conversion processes, B N -> N pi^0, are taken to be the sum of s, u and t-channel pole terms. The main contributions to the primary production amplitude is due to an effective isoscalar sigma meson pole in a t-channel, which is enhanced strongly due to offshellness. With this contribution included the model reproduces, both the scale and energy dependence of the cross section.Comment: REVTeX, graphicx, 22 pages (icluding 10 figures