We study superfluorescence (SF) from spherical and cigar-shaped clouds of laser-cooled Rubidium atoms from the $5{D}_{5/2}$ level through the $6{P}_{3/2}$ level to the $5{S}_{1/2}$ ground level. The atomic system is initially excited to the $5{D}_{5/2}$ level from the ground state via two-photon excitation through the intermediate $5{P}_{3/2}$ level. The fluorescence on the $6P\text{\ensuremath{-}}5S$ transition at 420 nm is recorded using time-resolved measurements. The time delays of the observed SF emission peaks typically scale as $\ensuremath{\sim}{N}^{\ensuremath{-}1}$, where $N$ is the atom number, and are much smaller than the time delay expected for uncorrelated cascade fluorescence. Since $N$ is significantly smaller than the threshold number for SF on the 420 nm transition, and larger than the threshold number for the $5D\text{\ensuremath{-}}6P$ transition at $5.2\text{ }\ensuremath{\mu}\text{m}$, our observations suggest that the 420 nm SF emission is triggered by rapid deexcitation of the $5D$ to the $6P$ level via SF at $5.2\text{ }\ensuremath{\mu}\text{m}$. The observed SF time delays for 420 nm emission agree with SF time-delay estimates for the $5.2\text{ }\ensuremath{\mu}\text{m}$ transition. For spherical clouds, the SF is isotropic. For cigar-shaped clouds, the SF is highly anisotropic. Along the long axis of cigar-shaped atom clouds, SF and incoherent cascade fluorescence produce temporally well-resolved peaks in the detected signal. In this case, the SF component of the signal is highly concentrated along a direction in between the directions of the two almost parallel excitation beams. The observed SF intensities scale as $N$, suggesting that the $5D$ level is regeneratively pumped during the SF decay.
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