arXiv subjects

Aritra Pal

Publications and source records attributed to Aritra Pal.

6 recordsLinked to original sources

arXiv2025

Together We Rise: Optimizing Real-Time Multi-Robot Task Allocation using Coordinated Heterogeneous Plays

Efficient task allocation among multiple robots is crucial for optimizing productivity in modern warehouses, particularly in response to the increasing demands of online order fulfillment. This paper addresses the real-time multi-robot task allocation (MRTA) problem in dynamic warehouse environments, where tasks emerge with specified start and end locations. The objective is to minimize both the total travel distance of robots and delays in task completion, while also considering practical constraints such as battery management and collision avoidance. We introduce MRTAgent, a dual-agent Reinforcement Learning (RL) framework inspired by self-play, designed to optimize task assignments and robot selection to ensure timely task execution. For safe navigation, a modified linear quadratic controller (LQR) approach is employed. To the best of our knowledge, MRTAgent is the first framework to address all critical aspects of practical MRTA problems while supporting continuous robot movements.

cs.RO↗

arXiv2023

Conformal integrals in all dimensions as GKZ hypergeometric functions and Clifford groups

Euclidean conformal integrals for an arbitrary number of points in any dimension are evaluated. Conformal transformations in the Euclidean space can be formulated as the Moebius group in terms of Clifford algebras. This is used to interpret conformal integrals as functions on the configuration space of points on the Euclidean space, solving linear differential equations, which, in turn, is related to toric GKZ systems. Explicit series solutions for the conformal integrals are obtained using toric methods as GKZ hypergeometric functions. The solutions are made symmetric under the action of permutation of the points, as expected of quantities on the configuration space of unordered points, using the monodromy-invariant unique Hermitian form. Consistency of the solutions among different number of points is shown.

hep-th↗

arXiv2022

Conformal Integrals in four dimensions

We obtain analytic expressions of four-dimensional Euclidean $N$-point conformal integrals for arbitrary $N$ by solving a Lauricella-like system of differential equations derived earlier. We demonstrate their relation to the GKZ A-hypergeometric systems. The conformal integrals are solutions to these expressed in terms of leg factors and infinite series in the conformal invariant cross ratios.

hep-th↗

arXiv2021

Towards a categorification of scattering amplitudes

Categorification of scattering amplitudes for planar Feynman diagrams in scalar field theories with a polynomial potential is reported. Amplitudes for cubic theories are directly written down in terms of projectives of hearts of intermediate $t$-structures restricted to the cluster category of quiver representations, without recourse to geometry. It is shown that for theories with $ϕ^{m+2}$ potentials those corresponding to $m$-cluster categories are to be used. The case of generic polynomial potentials is treated and our results suggest the existence of a generalization of higher cluster categories which we call pseudo-periodic categories. An algorithm to obtain the projectives of hearts of intermediate $t$-structures for these types is presented.

hep-th↗

arXiv2021

A simulation driven optimization algorithm for scheduling sorting center operations

Parcel sorting operations in logistics enterprises aim to achieve a high throughput of parcels through sorting centers. These sorting centers are composed of large circular conveyor belts on which incoming parcels are placed, with multiple arms known as chutes for sorting the parcels by destination, followed by packing into roller cages and loading onto outbound trucks. Modern sorting systems need to complement their hardware innovations with sophisticated algorithms and software to map destinations and workforce to specific chutes. While state of the art systems operate with fixed mappings, we propose an optimization approach that runs before every shift, and uses real-time forecast of destination demand and labor availability in order to maximize throughput. We use simulation to improve the performance and robustness of the optimization solution to stochasticity in the environment, through closed-loop tuning of the optimization parameters.

eess.SY↗

arXiv2021

Conformal Correlation functions in four dimensions from Quaternionic Lauricella system

Correlation functions in Euclidean conformal field theories in four dimensions are expressed as representations of the conformal group $SL(2,\H)$, $\H$ being the field of quaternions, on the configuration space of points. The representations are obtained in terms of Lauricella system for quaternions. It generalizes the two-dimensional case, wherein the $N$-point correlation function is expressed in terms of solutions of Lauricella system on the configuration space of $N$ points on the complex plane, furnishing representation of the conformal group $SL(2,\C)$.

hep-th↗