arXiv subjects

Scott Harper

Publications and source records attributed to Scott Harper.

25 records · Page 2Linked to original sources

arXiv2019

Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints

We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions inherently exhibit cubic error growth. Furthermore, for planetary rovers that are traversing diverse types of terrain, wheel odometry is often unreliable for use in localization, due to wheel slippage. For current Mars rovers, computer vision-based approaches are generally used whenever there is a high possibility of positioning error; however, these strategies require additional computational power, energy resources, and significantly slow down the rover traverse speed. To this end, we propose a navigation approach that compensates for the high likelihood of odometry errors by providing a reliable navigation solution that leverages non-holonomic vehicle constraints as well as state-aware pseudo-measurements (e.g., zero velocity and zero angular rate) updates during periodic stops. By using this, computationally expensive visual-based corrections could be performed less often. Experimental tests that compare against GPS-based localization are used to demonstrate the accuracy of the proposed approach. The source code, post-processing scripts, and example datasets associated with the paper are published in a public repository.

cs.RO↗

arXiv2019

Finite groups, 2-generation and the uniform domination number

Let $G$ be a finite $2$-generated non-cyclic group. The spread of $G$ is the largest integer $k$ such that for any nontrivial elements $x_1, \ldots, x_k$, there exists $y \in G$ such that $G = \langle x_i, y\rangle$ for all $i$. The more restrictive notion of uniform spread, denoted $u(G)$, requires $y$ to be chosen from a fixed conjugacy class of $G$, and a theorem of Breuer, Guralnick and Kantor states that $u(G) \geqslant 2$ for every non-abelian finite simple group $G$. For any group with $u(G) \geqslant 1$, we define the uniform domination number $γ_u(G)$ of $G$ to be the minimal size of a subset $S$ of conjugate elements such that for each nontrivial $x \in G$ there exists $y \in S$ with $G = \langle x, y \rangle$ (in this situation, we say that $S$ is a uniform dominating set for $G$). We introduced the latter notion in a recent paper, where we used probabilistic methods to determine close to best possible bounds on $γ_u(G)$ for all simple groups $G$. In this paper we establish several new results on the spread, uniform spread and uniform domination number of finite groups and finite simple groups. For example, we make substantial progress towards a classification of the simple groups $G$ with $γ_u(G)=2$, and we study the associated probability that two randomly chosen conjugate elements form a uniform dominating set for $G$. We also establish new results concerning the $2$-generation of soluble and symmetric groups, and we present several open problems.

math.GR↗

arXiv2019

Permutations with orders coprime to a given integer

Let $m$ be a positive integer and let $ρ(m,n)$ be the proportion of permutations of the symmetric group ${\rm Sym}(n)$ whose order is coprime to $m$. In 2002, Pouyanne proved that $ρ(n,m)n^{1-\frac{ϕ(m)}{m}}\sim κ_m$ where $κ_m$ is a complicated (unbounded) function of $m$. We show that there exists a positive constant $C(m)$ such that, for all $n \geqslant m$, \[C(m) \left(\frac{n}{m}\right)^{\frac{ϕ(m)}{m}-1} \leqslant ρ(n,m) \leqslant \left(\frac{n}{m}\right)^{\frac{ϕ(m)}{m}-1}\] where $ϕ$ is Euler's totient function.

math.CO↗

arXiv2019

The distinguishing number of quasiprimitive and semiprimitive groups

The distinguishing number of $G \leqslant \sym(Ω)$ is the smallest size of a partition of $Ω$ such that only the identity of $G$ fixes all the parts of the partition. Extending earlier results of Cameron, Neumann, Saxl and Seress on the distinguishing number of finite primitive groups, we show that all imprimitive quasiprimitive groups have distinguishing number two, and all non-quasiprimitive semiprimitive groups have distinguishing number two, except for $\mathrm{GL}(2, 3)$ acting on the eight non-zero vectors of $\mathbb F_2^3$, which has distinguishing number three.

math.GR↗

arXiv2018

Design of an Autonomous Precision Pollination Robot

Precision robotic pollination systems can not only fill the gap of declining natural pollinators, but can also surpass them in efficiency and uniformity, helping to feed the fast-growing human population on Earth. This paper presents the design and ongoing development of an autonomous robot named "BrambleBee", which aims at pollinating bramble plants in a greenhouse environment. Partially inspired by the ecology and behavior of bees, BrambleBee employs state-of-the-art localization and mapping, visual perception, path planning, motion control, and manipulation techniques to create an efficient and robust autonomous pollination system.

cs.RO↗

arXiv2018

On the uniform domination number of a finite simple group

Let $G$ be a finite simple group. By a theorem of Guralnick and Kantor, $G$ contains a conjugacy class $C$ such that for each non-identity element $x \in G$, there exists $y \in C$ with $G = \langle x,y\rangle$. Building on this deep result, we introduce a new invariant $γ_u(G)$, which we call the uniform domination number of $G$. This is the minimal size of a subset $S$ of conjugate elements such that for each $1 \ne x \in G$, there exists $s \in S$ with $G = \langle x, s \rangle$. (This invariant is closely related to the total domination number of the generating graph of $G$, which explains our choice of terminology.) By the result of Guralnick and Kantor, we have $γ_u(G) \leqslant |C|$ for some conjugacy class $C$ of $G$, and the aim of this paper is to determine close to best possible bounds on $γ_u(G)$ for each family of simple groups. For example, we will prove that there are infinitely many non-abelian simple groups $G$ with $γ_u(G) = 2$. To do this, we develop a probabilistic approach, based on fixed point ratio estimates. We also establish a connection to the theory of bases for permutation groups, which allows us to apply recent results on base sizes for primitive actions of simple groups.

math.GR↗

arXiv2017

On the uniform spread of almost simple symplectic and orthogonal groups

A group is $\frac{3}{2}$-generated if every non-identity element is contained in a generating pair. A conjecture of Breuer, Guralnick and Kantor from 2008 asserts that a finite group is $\frac{3}{2}$-generated if and only if every proper quotient of the group is cyclic, and recent work of Guralnick reduces this conjecture to almost simple groups. In this paper, we prove a stronger form of the conjecture for almost simple symplectic and odd-dimensional orthogonal groups. More generally, we study the uniform spread of these groups, obtaining lower bounds and related asymptotics. This builds on earlier work of Burness and Guest, who established the conjecture for almost simple linear groups.

math.GR↗