arXiv subjects

Mihir Kulkarni

Publications and source records attributed to Mihir Kulkarni.

42 records · Page 3Linked to original sources

arXiv2022

CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge

Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy hard to achieve. This has motivated the DARPA Subterranean Challenge, where teams of robots search for objects of interest in various underground environments. In response, the CERBERUS system-of-systems is presented as a unified strategy towards subterranean exploration using legged and flying robots. As primary robots, ANYmal quadruped systems are deployed considering their endurance and potential to traverse challenging terrain. For aerial robots, both conventional and collision-tolerant multirotors are utilized to explore spaces too narrow or otherwise unreachable by ground systems. Anticipating degraded sensing conditions, a complementary multi-modal sensor fusion approach utilizing camera, LiDAR, and inertial data for resilient robot pose estimation is proposed. Individual robot pose estimates are refined by a centralized multi-robot map optimization approach to improve the reported location accuracy of detected objects of interest in the DARPA-defined coordinate frame. Furthermore, a unified exploration path planning policy is presented to facilitate the autonomous operation of both legged and aerial robots in complex underground networks. Finally, to enable communication between the robots and the base station, CERBERUS utilizes a ground rover with a high-gain antenna and an optical fiber connection to the base station, alongside breadcrumbing of wireless nodes by our legged robots. We report results from the CERBERUS system-of-systems deployment at the DARPA Subterranean Challenge Tunnel and Urban Circuits, along with the current limitations and the lessons learned for the benefit of the community.

cs.RO↗

arXiv2021

What is the Halo Mass Function in a Fuzzy Dark Matter Cosmology?

Fuzzy dark matter (FDM) or wave dark matter is an alternative theory designed to solve the small-scale problems faced by the standard cold dark matter proposal for the primary material component of the universe. It is made up of ultra-light axions having mass $\sim 10^{-22}$ eV that typically have de Broglie wavelength of several kpc, alleviating some of the apparent small-scale discrepancies faced by the standard $Λ$CDM paradigm. In this paper, we calculate the halo mass function for the fuzzy dark matter using a sharp-k window function and compare it with one calculated using numerical simulations, finding the peak mass at roughly $10^{10} {M_{\odot}}$ for a particle mass of $2\times 10^{-22}$ eV. We also constrain the mass of FDM particle to be $\gtrapprox 2\times10^{-22}$ eV using the observations of high-redshift ($z\sim 10$) lensed galaxies from CLASH survey.

astro-ph.CO↗

arXiv2020

The critical dark matter halo mass for Population III star formation: dependence on Lyman-Werner radiation, baryon-dark matter streaming velocity, and redshift

A critical dark matter halo mass ($M_{\rm crit}$) for Population III (Pop III) stars can be defined as the typical minimum halo mass that hosts sufficient cold dense gas required for the formation of the first stars. The presence of Lyman-Werner (UV) radiation, which can dissociate molecular hydrogen, and the baryon-dark matter streaming velocity both delay the formation of Pop III stars by increasing $M_{\rm crit}$. In this work, we constrain $M_{\rm crit}$ as a function of Lyman-Werner flux (including self-shielding), baryon-dark matter streaming, and redshift using cosmological simulations with a large sample of halos utilizing the adaptive mesh refinement (AMR) code ENZO. We provide a fit for $M_{\rm crit}$ as a function of these quantities which we expect to be particularly useful for semi-analytical models of early galaxy formation. In addition, we find: (i) the measured redshift dependence of $M_{\rm crit}$ in the absence of radiation or streaming is $(1+z)^{-1.58}$, consistent with a constant virial temperature; (ii) increasing the UV background increases $M_{\rm crit}$ while steepening the redshift dependence, up to $(1+z)^{-5.7}$; (iii) baryon-dark matter streaming boosts $M_{\rm crit}$ but flattens the dependence on redshift; (iv) the combination of the two effects is not simply multiplicative.

astro-ph.GA↗

arXiv2019

The Reconfigurable Aerial Robotic Chain: Shape and Motion Planning

This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that simultaneously presents the ability to cross narrow sections, morph its shape, ferry significant payloads, offer the potential of distributed sensing and processing, and allow system extendability. We contribute an approach to address the motion planning problem of such a connected robotic system of systems, making full use of its reconfigurable nature, to find collision free paths in a fast manner despite the increased number of degrees of freedom. The presented approach exploits a library of aerial robotic chain configurations, optimized either for cross-section size or sensor coverage, alongside a probabilistic strategy to sample random shape configurations that may be needed to facilitate continued collision-free navigation. Evaluation studies in simulation involve traversal of constrained and obstacle-laden environments, having narrow corridors and cross sections.

cs.RO↗

arXiv2019

Fragmentation in Population III Galaxies formed through Ionizing Radiation

Population III stars forming in minihalos tend to be relatively inefficient, with each minihalo hosting one or a small number of stars which are more massive than local stars but still challenging to observe directly at high redshift. Here we explore a possible mechanisms for the generation of larger clusters of such stars: a nearby ionizing source which ionizes a late forming halo, delaying its collapse until the halo is sufficiently large that the core can self-shield and suffer runaway collapse. We use simulations with a simple but accurate model for the radiative ionizing flux and confirm the basic predictions of previous work: higher ionizing fluxes can delay the collapse to lower redshifts and higher masses, up to an order of magnitude above the atomic cooling limit. In a limited number of runs we also examine the fragmentation of the cores at even higher resolution, using both simple estimates and sink particles to show that the number of fragments is generally small, at most a handful, and that the mass accretion rate on the fragments is of order $10^{-3}$ M$_\odot$ yr$^{-1}$. This rate is sufficiently high that the descent on the main sequence (and hence the suppression of accretion) is delayed until the stellar masses are of order $100-1000$ M$_\odot$, but not high enough to produce direct collapse black holes of mass $\sim 10^5$ M$_{\odot}$. The resulting clusters are larger than those produced in minihalos, but are still likely to fall short of being easily detectable in JWST blind fields.

astro-ph.GA↗

arXiv2017

On the letter frequencies and entropy of written Marathi

We carry out a comprehensive analysis of letter frequencies in contemporary written Marathi. We determine sets of letters which statistically predominate any large generic Marathi text, and use these sets to estimate the entropy of Marathi.

cs.IT↗