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P. Agrawal

Publications and source records attributed to P. Agrawal.

14 recordsLinked to original sources
arXiv2026

Drone-Assisted UAV-UGV Collaboration for Autonomous Navigation in Snow-Covered Terrain

This paper presents a collaborative UAV-UGV navigation framework for high-altitude, snow-covered terrain, where reduced visibility and unstable ground render conventional methods ineffective. We introduce a custom efficient U-Net architecture that falls under the computational constraints for real-time road segmentation, utilizing a novel synthetic snow data augmentation technique to achieve 96.5% segmentation accuracy. For UAV localization, we implement an Extended Kalman Filter (EKF) fusing onboard GPS and IMU data, achieving a maximum observed positional error of +-0.5 meters. The UGV position is determined via a visual tracking pipeline using YOLOv5 and depth data from the UAV's RGB-D camera. A dynamic path planning algorithm utilizes this segmentation to adjust for snow drifts, enabling successful navigation in obscured test environment with minimal deviation.

cs.RO↗
arXiv2025

The Simons Observatory: forecasted constraints on primordial gravitational waves with the expanded array of Small Aperture Telescopes

We present updated forecasts for the scientific performance of the degree-scale (0.5 deg FWHM at 93 GHz), deep-field survey to be conducted by the Simons Observatory (SO). By 2027, the SO Small Aperture Telescope (SAT) complement will be doubled from three to six telescopes, including a doubling of the detector count in the 93 GHz and 145 GHz channels to 48,160 detectors. Combined with a planned extension of the survey duration to 2035, this expansion will significantly enhance SO's search for a $B$-mode signal in the polarisation of the cosmic microwave background, a potential signature of gravitational waves produced in the very early Universe. Assuming a $1/f$ noise model with knee multipole $\ell_{\rm knee} = 50$ and a moderately complex model for Galactic foregrounds, we forecast a $1\sigma$ (or 68% confidence level) constraint on the tensor-to-scalar ratio $r$ of $\sigma_r = 1.2\times10^{-3}$, assuming no primordial $B$-modes are present. This forecast assumes that 70% of the $B$-mode lensing signal can ultimately be removed using high resolution observations from the SO Large Aperture Telescope (LAT) and overlapping large-scale structure surveys. For more optimistic assumptions regarding foregrounds and noise, and assuming the same level of delensing, this forecast constraint improves to $\sigma_r = 7\times10^{-4}$. These forecasts represent a major improvement in SO's constraining power, being a factor of around 2.5 times better than what could be achieved with the originally planned campaign, which assumed the existing three SATs would conduct a five-year survey.

astro-ph.CO↗
arXiv2025

Ice Giants Pre-Decadal Survey Mission Study Report

The Ice Giants Study was commissioned by NASA to take a fresh look (as of 2017) at science priorities and concepts for missions to the Uranus and Neptune systems in preparation for the third Planetary Science Decadal Survey. This study was led by a Science Definition Team (SDT) and the Jet Propulsion Laboratory (JPL) with participation from Langley Research Center, Ames Research Center, The Aerospace Corporation, Purdue University, and the European Space Agency. The SDT was appointed by NASA and co-chaired by Mark Hofstadter (JPL) and Amy Simon (Goddard Space Flight Center). The Study Manager was Kim Reh (JPL) and the Study Lead was John Elliott (JPL). The study team assessed and prioritized science objectives taking into account advances since the last Decadal Survey, current and emerging technologies, mission implementation techniques and celestial mechanics. This study examined a wide range of mission architectures, flight elements, and instruments. Six of the prioritized concepts were studied via JPL's Team X process and resulting cost estimates were subjected to independent assessment by The Aerospace Corporation. Results presented herein show that high-value flagship-class mission concepts to either Uranus or Neptune are achievable within ground rule budgetary constraints.

astro-ph.IM↗
arXiv2025

United States Muon Collider Community White Paper for the European Strategy for Particle Physics Update

This document is being submitted to the 2024-2026 European Strategy for Particle Physics Update (ESPPU) process on behalf of the US Muon Collider community, with its preparation coordinated by the interim US Muon Collider Coordination Group. The US Muon Collider Community comprises a few hundred American scientists. The purpose of the document is to inform ESPPU about the US plans for Muon Collider research and development (R&D), explain how these efforts align with the broader international R&D initiatives, and present the US community vision for the future realization of this transformative project.

hep-ex↗
arXiv2025

The Simons Observatory: Science Goals and Forecasts for the Enhanced Large Aperture Telescope

We describe updated scientific goals for the wide-field, millimeter-wave survey that will be produced by the Simons Observatory (SO). Significant upgrades to the 6-meter SO Large Aperture Telescope (LAT) are expected to be complete by 2028, and will include a doubled mapping speed with 30,000 new detectors and an automated data reduction pipeline. In addition, a new photovoltaic array will supply most of the observatory's power. The LAT survey will cover about 60% of the sky at a regular observing cadence, with five times the angular resolution and ten times the map depth of Planck. The science goals are to: (1) determine the physical conditions in the early universe and constrain the existence of new light particles; (2) measure the integrated distribution of mass, electron pressure, and electron momentum in the late-time universe, and, in combination with optical surveys, determine the neutrino mass and the effects of dark energy via tomographic measurements of the growth of structure at $z < 3$; (3) measure the distribution of electron density and pressure around galaxy groups and clusters, and calibrate the effects of energy input from galaxy formation on the surrounding environment; (4) produce a sample of more than 30,000 galaxy clusters, and more than 100,000 extragalactic millimeter sources, including regularly sampled AGN light-curves, to study these sources and their emission physics; (5) measure the polarized emission from magnetically aligned dust grains in our Galaxy, to study the properties of dust and the role of magnetic fields in star formation; (6) constrain asteroid regoliths, search for Trans-Neptunian Objects, and either detect or eliminate large portions of the phase space in the search for Planet 9; and (7) provide a powerful new window into the transient universe on time scales of minutes to years, concurrent with observations from Rubin of overlapping sky.

astro-ph.IM↗
arXiv2025

Resolving Spatio-Temporal Entanglement in Video Prediction via Multi-Modal Attention

The fast progress in computer vision has necessitated more advanced methods for temporal sequence modeling. This area is essential for the operation of autonomous systems, real-time surveillance, and predicting anomalies. As the demand for accurate video prediction increases, the limitations of traditional deterministic models, particularly their struggle to maintain long-term temporal coherence while providing high-frequency spatial detail, have become very clear. This report provides an exhaustive analysis of the Multi-Attention Unit Cell (MAUCell), a novel architectural framework that represents a significant leap forward in video frame prediction. By synergizing Generative Adversarial Networks (GANs) with a hierarchical "STAR-GAN" processing strategy and a triad of specialized attention mechanisms (Temporal, Spatial, and Pixel-wise), the MAUCell addresses the persistent "deep-in-time" dilemma that plagues Recurrent Neural Networks (RNNs). Our analysis shows that the MAUCell framework successfully establishes a new state-of-the-art benchmark, especially in its ability to produce realistic video sequences that closely resemble real-world footage while ensuring efficient inference for real-time deployment. Through rigorous evaluation on datasets: Moving MNIST, KTH Action, and CASIA-B, the framework shows superior performance metrics, especially in Learned Perceptual Image Patch Similarity (LPIPS) and Structural Similarity Index (SSIM). This success confirms its dual-pathway information transformation system. This report details the theoretical foundations, detailed structure and broader significance of MAUCell, presenting it as a valuable solution for video forecasting tasks that require high precision and limited resources.

cs.CV↗
arXiv2022

The role of stellar expansion on the formation of gravitational wave sources

Massive stars are the progenitors of black holes and neutron stars, the mergers of which can be detected with gravitational waves (GW). The expansion of massive stars is one of the key factors affecting their evolution in close binary systems, but it remains subject to large uncertainties in stellar astrophysics. For population studies and predictions of GW sources, the stellar expansion is often simulated with the analytic formulae from Hurley et al. (2000). These formulae need to be extrapolated for stars beyond 50 solar masses and are often considered outdated. In this work we present five different prescriptions developed from 1D stellar models to constrain the maximum expansion of massive stars. We adopt these prescriptions to investigate how stellar expansion affects mass transfer interactions and in turn the formation of GW sources. We show that limiting radial expansion with updated 1D stellar models, when compared to the use of Hurley et al. (2000) radial expansion formulae, does not significantly affect GW source properties (rates and masses). This is because most mass transfer events leading to GW sources are initialised before the donor star reaches its maximum expansion. The only significant difference was found for the mass distribution of massive binary black hole mergers (total mass > 50 solar masses) formed from stars that may evolve beyond the Humphreys-Davidson limit, whose radial expansion is the most uncertain. We conclude that understanding the expansion of massive stars and the origin of the Humphrey-Davidson limit is a key factor for the study of GW sources.

astro-ph.HE↗
arXiv2020

Neutron Star Extreme Matter Observatory: A kilohertz-band gravitational-wave detector in the global network

Gravitational waves from coalescing neutron stars encode information about nuclear matter at extreme densities, inaccessible by laboratory experiments. The late inspiral is influenced by the presence of tides, which depend on the neutron star equation of state. Neutron star mergers are expected to often produce rapidly-rotating remnant neutron stars that emit gravitational waves. These will provide clues to the extremely hot post-merger environment. This signature of nuclear matter in gravitational waves contains most information in the 2-4 kHz frequency band, which is outside of the most sensitive band of current detectors. We present the design concept and science case for a neutron star extreme matter observatory (NEMO): a gravitational-wave interferometer optimized to study nuclear physics with merging neutron stars. The concept uses high circulating laser power, quantum squeezing and a detector topology specifically designed to achieve the high-frequency sensitivity necessary to probe nuclear matter using gravitational waves. Above one kHz, the proposed strain sensitivity is comparable to full third-generation detectors at a fraction of the cost. Such sensitivity changes expected event rates for detection of post-merger remnants from approximately one per few decades with two A+ detectors to a few per year, and potentially allows for the first gravitational-wave observations of supernovae, isolated neutron stars, and other exotica.

astro-ph.HE↗
arXiv2020

BIDEAL: A Toolbox for Bicluster Analysis -- Generation, Visualization and Validation

This paper introduces a novel toolbox named BIDEAL for the generation of biclusters, their analysis, visualization, and validation. The objective is to facilitate researchers to use forefront biclustering algorithms embedded on a single platform. A single toolbox comprising various biclustering algorithms play a vital role to extract meaningful patterns from the data for detecting diseases, biomarkers, gene-drug association, etc. BIDEAL consists of seventeen biclustering algorithms, three biclusters visualization techniques, and six validation indices. The toolbox can analyze several types of data, including biological data through a graphical user interface. It also facilitates data preprocessing techniques i.e., binarization, discretization, normalization, elimination of null and missing values. The effectiveness of the developed toolbox has been presented through testing and validations on Saccharomyces cerevisiae cell cycle, Leukemia cancer, Mammary tissue profile, and Ligand screen in B-cells datasets. The biclusters of these datasets have been generated using BIDEAL and evaluated in terms of coherency, differential co-expression ranking, and similarity measure. The visualization of generated biclusters has also been provided through a heat map and gene plot.

cs.OH↗
arXiv2015

More Communication with Less Entanglement

We exhibit the intriguing phenomena of "Less is More" using a set of multipartite entangled states. We consider the quantum communication protocols for the {\em exact} teleportation, superdense coding, and quantum key distribution. We find that sometimes {\em less} entanglement is {\em more} useful. To understand this phenomena we obtain a condition that a resource state must satisfy to communicate a $n$-qubit pure state with $m$ terms. We find that the an appropriate partition of the resource state should have a von-Neumann entropy of ${\rm log}_{2} m$. Furthermore, it is shown that some states may be suitable for exact superdense coding, but not for exact teleportation.

quant-ph↗
arXiv2005

Probabilistic Super Dense Coding

We explore the possibility of performing super dense coding with non-maximally entangled states as a resource. Using this we find that one can send two classical bits in a probabilistic manner by sending a qubit. We generalize our scheme to higher dimensions and show that one can communicate 2log_2 d classical bits by sending a d-dimensional quantum state with a certain probability of success. The success probability in super dense coding is related to the success probability of distinguishing non-orthogonal states. The optimal average success probabilities are explicitly calculated. We consider the possibility of sending 2 log_2 d classical bits with a shared resource of a higher dimensional entangled state (D X D, D > d). It is found that more entanglement does not necessarily lead to higher success probability. This also answers the question as to why we need log_2 d ebits to send 2 log_2 d classical bits in a deterministic fashion.

quant-ph↗
arXiv2003

Exact remote state preparation for multiparties

We discuss the exact remote state preparation protocol of special ensembles of qubits at multiple locations. We also present generalization of this protocol for higher dimensional Hilbert space systems for multiparties. Using the `dark states', the analogue of singlet EPR pair for multiparties in higher dimension as quantum channel, we show several instances of remote state preparation protocol using multiparticle measurement and classical communication.

quant-ph↗
arXiv1995

Optimized Top Quark Analysis with the Decision Tree

We present an optimized and physically motivated method for separating top quark signal events from background events at the Tevatron. For the top quark signal $t\bar t \to e/μ+ 4$ jets, we show how to reject all but $25\%$ of the background in a data sample while retaining $80\%$ of the signal, without introducing bias into the subsequent mass measurement. The technique used is the Binary Decision Tree. Combining this highly efficient procedure for signal identification with a novel algorithm for top quark reconstruction, we propose a powerful new way to measure the top quark mass.

hep-ph↗