SearcharxivSearch

arXiv subjects

Luca Cattaneo

Publications and source records attributed to Luca Cattaneo.

3 recordsLinked to original sources

Rejection-free Glauber Monte Carlo for the 2D Random Field Ising Model via Hierarchical Probabilistic Counters

We present an efficient Monte Carlo algorithm for the simulation of the two-dimensional Random Field Ising Model (RFIM). The method combines the event-driven, rejection-free character of the Bortz Kalos-Lebowitz (BKL) algorithm with Glauber transition probabilities, introducing hierarchical probabilistic counters to perform spin selection in O(log N) operations. This enables efficient sampling of the system's dynamics, especially in the low-temperature and low-disorder regime, where traditional Metropolis updates suffer from critical slowing down. Furthermore, this approach allows a proper dynamical simulation of the Ising system's behavior even in the presence of a Random Field (RF), unlike the BKL method. RFIM simulations with Gaussian field distributions reproduce the expected reduction of the pseudo-critical temperature with increasing disorder. Benchmarking shows speedups exceeding two orders of magnitude compared to the Metropolis algorithm in the low-temperature regime. The proposed method provides an efficient and dynamically faithful tool for studying both equilibrium and non-equilibrium phenomena in disordered spin systems.

cond-mat.stat-mech

BUDD-e: an autonomous robotic guide for visually impaired users

This paper describes the design and the realization of a prototype of the novel guide robot BUDD-e for visually impaired users. The robot has been tested in a real scenario with the help of visually disabled volunteers at ASST Grande Ospedale Metropolitano Niguarda, in Milan. The results of the experimental campaign are throughly described in the paper, displaying its remarkable performance and user-acceptance.

cs.RO

Mobile Robot Localization: a Modular, Odometry-Improving Approach

Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in typical localization pipelines. This paper proposes a modular localization architecture that fuses sensor measurements with the outputs of off-the-shelf localization algorithms. The fusion filter estimates model uncertainties to improve odometry in case absolute pose measurements are lost entirely. The architecture is validated experimentally on a real robot navigating autonomously proving a reduction of the position error of more than 90% with respect to the odometrical estimate without uncertainty estimation in a two-minute navigation period without position measurements.

cs.RO