arXiv subjects

Shruti Patel

Publications and source records attributed to Shruti Patel.

11 recordsLinked to original sources

arXiv2024

Let Hybrid A* Path Planner Obey Traffic Rules: A Deep Reinforcement Learning-Based Planning Framework

Deep reinforcement learning (DRL) allows a system to interact with its environment and take actions by training an efficient policy that maximizes self-defined rewards. In autonomous driving, it can be used as a strategy for high-level decision making, whereas low-level algorithms such as the hybrid A* path planning have proven their ability to solve the local trajectory planning problem. In this work, we combine these two methods where the DRL makes high-level decisions such as lane change commands. After obtaining the lane change command, the hybrid A* planner is able to generate a collision-free trajectory to be executed by a model predictive controller (MPC). In addition, the DRL algorithm is able to keep the lane change command consistent within a chosen time-period. Traffic rules are implemented using linear temporal logic (LTL), which is then utilized as a reward function in DRL. Furthermore, we validate the proposed method on a real system to demonstrate its feasibility from simulation to implementation on real hardware.

cs.RO↗

arXiv2023

Indoor Localization for an Autonomous Model Car: A Marker-Based Multi-Sensor Fusion Framework

Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an integrated framework for indoor localization and experimental validation of an autonomous driving system based on an advanced driver-assistance system (ADAS) model car. The global pose of the model car is obtained by fusing information from fiducial markers, inertial sensors and wheel odometry. In order to achieve robust localization, we investigate and compare two extensions to the Extended Kalman Filter; first with adaptive noise tuning and second with Chi-squared test for measurement outlier detection. An efficient and low-cost ground truth measurement method using a single LiDAR sensor is also proposed to validate the results. The performance of the localization algorithms is tested on a complete autonomous driving system with trajectory planning and model predictive control.

cs.RO↗

arXiv2022

Electroweak Corrections to Dark Matter Direct Detection in the Dark Singlet Phase of the N2HDM

Direct detection experiments are the only way to obtain indisputable evidence of the existence of dark matter (DM) in the form of a particle. These experiments have been used to probe many extensions of the Standard Model (SM) that provide DM candidates. Experimental results like the latest ones from XENON1T lead to severe constraints in the parameter space of many of the proposed models. In a simple extension of the SM, the addition of a complex singlet to the SM content, one-loop corrections need to be taken into account because the tree-level cross section is proportional to the DM velocity, and therefore negligible. In this work we study the case of a DM particle with origin in a singlet but in a larger framework of an extension by an extra doublet together with the extra singlet providing the DM candidate. We show that in the region of interest of the present and future direct detection experiments, electroweak corrections are quite stable with a $K$-factor very close to one.

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arXiv2021

Precision Predictions for Charged Higgs Boson Decays in the Real and Complex NMSSM

We present the full next-to-leading order (NLO) supersymmetric (SUSY) electroweak and SUSY-QCD corrections to the decay widths of the charged Higgs boson decays into on-shell final states in the framework of the CP-conserving and CP-violating Next-to-Minimal Supersymmetric Model (NMSSM). The newly calculated corrections have been implemented in the code NMSSMCALCEW. In these proceedings, we discuss the impact of the NLO corrections on the charged Higgs boson branching ratios in a wide range of the parameter space that is still compatible with the experimental constraints. We also investigate the effect of CP violation in these corrections.

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arXiv2020

One-loop Corrections to the Two-Body Decays of the Charged Higgs Bosons in the Real and Complex NMSSM

We evaluate the full next-to-leading order supersymmetric (SUSY) electroweak and SUSY-QCD corrections to the on-shell two-body decays of the charged Higgs bosons in the framework of the CP-conserving and CP-violating Next-to-Minimal Supersymmetric extension of the Standard Model (NMSSM). Our corrections are implemented in the code NMSSMCALCEW in order to compute the branching ratios of the charged Higgs boson where we also take into account the state-of-the-art QCD corrections already included in the code. We investigate the impact of the NLO corrections for each decay mode in a wide range of the parameter space that is allowed by the theoretical and experimental constraints. The new version of NMSSMCALCEW is made publicly available.

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arXiv2020

Electroweak Corrections in a Pseudo-Nambu Goldstone Dark Matter Model Revisited

Having so far only indirect evidence for the existence of Dark Matter a plethora of experiments aims at direct detection of Dark Matter through the scattering of Dark Matter particles off atomic nuclei. For the correct interpretation and identification of the underlying nature of the Dark Matter constituents higher-order corrections to the cross section of Dark Matter-nucleon scattering are important, in particular in models where the tree-level cross section is negligibly small. In this work we revisit the electroweak corrections to the dark matter-nucleon scattering cross section in a model with a pseudo Nambu-Goldstone boson as the Dark Matter candidate. Two calculations that already exist in the literature, apply different approaches resulting in different final results for the cross section in some regions of the parameter space leading us to redo the calculation and analyse the two approaches to clarify the situation. We furthermore update the experimental constraints and examine the regions of the parameter space where the cross section is above the neutrino floor but which can only be probed in the far future.

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arXiv2020

NLO corrections to Vector Dark Matter Direct Detection -- An update

In this work we present an update to a previous calculation of the Next-to-Leading Order (NLO) corrections to the Vector Dark Matter (VDM) direct detection cross section. The model under investigation is a minimal extension of the Standard Model (SM) with one extra vector boson and one extra complex scalar field, where the vector is the DM candidate. We have computed the spin-independent cross section for the scattering of the VDM particle with a nucleon. We now provide an update to the NLO cross section for the direct detection of the DM particle. We further discuss the phenomenological implications of the NLO corrections for the sensitivity of the direct detection DM experiments.

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arXiv2019

MSSM Higgs Boson Searches at the LHC: Benchmark Scenarios for Run 2 and Beyond

We propose six new benchmark scenarios for Higgs boson searches in the Minimal Supersymmetric Standard Model. Our calculations follow the recommendations of the LHC Higgs Cross Section Working Group, and benefit from recent developments in the predictions for the Higgs-boson masses and mixing. All of the proposed scenarios are compatible with the most recent results from Run 2 of the LHC. In particular, they feature a scalar with mass and couplings compatible with those of the observed Higgs boson, and a significant portion of their parameter space is allowed by the limits from the searches for SUSY particles and additional Higgs bosons. We define a scenario where all SUSY particles are relatively heavy, and two scenarios with light colorless SUSY particles (charginos, neutralinos and, in one case, staus). In addition, we present two scenarios featuring alignment without decoupling, realized with either the lighter or the heavier scalar being SM-like, and a scenario with CP violation.

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arXiv2018

CP in the dark

We build a model containing two scalar doublets and a scalar singlet with a specific discrete symmetry. After spontaneous symmetry breaking, the model has Standard Model-like phenomenology, as well as a hidden scalar sector which provides a viable dark matter candidate. We show that CP violation in the scalar sector occurs exclusively in the hidden sector, and consider possible experimental signatures of this CP violation.

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arXiv2018

$\mathcal{CP}$-violating effects on MSSM Higgs searches

We study the effects of $\mathcal{CP}$-violating phases on the phenomenology of the Higgs sector of the MSSM. Complex parameters in the MSSM lead to $\mathcal{CP}$-violating mixing between the tree-level $\mathcal{CP}$-even and $\mathcal{CP}$-odd neutral Higgs states, leading to three new loop-corrected mass eigenstates $h_a$, $a \in \lbrace 1,2,3\rbrace$. For scenarios where a light Higgs boson at about 125 GeV can be identified with the observed signal and where the other Higgs states are significantly heavier, a large admixture of the heavy neutral Higgs bosons occurs as a generic feature if $\mathcal{CP}$-violating effects are taken into account. Including interference contributions in the predictions for cross sections times branching ratios of the Higgs bosons is essential in this case. As a first step, we present the gluon-fusion and bottom-quark annihilation cross sections for $h_a$ for the general case of arbitrary complex parameters, and we demonstrate that squark effects strongly depend on the phases of the complex parameters. We then study the effects of interference between $h_2$ and $h_3$ for the example of the process $b\bar{b} \to τ^+τ^-$. We show that large destructive interference effects modify LHC exclusion bounds such that parts of the parameter space that would be excluded by MSSM Higgs searches under the assumption of $\mathcal{CP}$-conservation open up when the possibility of $\mathcal{CP}$-violation in the Higgs sector is accounted for.

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arXiv2017

Phenomenology of on-shell Higgs production in the MSSM with complex parameters

A computation of inclusive cross sections for neutral Higgs boson production through gluon fusion and bottom-quark annihilation is presented in the MSSM with complex parameters. The predictions for the gluon-fusion process are based on an explicit calculation of the leading-order cross section for arbitrary complex parameters which is supplemented by higher-order corrections: massive top- and bottom-quark contributions at NLO QCD, in the heavy top-quark effective theory the top-quark contribution up to N$^3$LO QCD including a soft expansion for the $\mathcal{CP}$-even component of the light Higgs boson. For its $\mathcal{CP}$-odd component and the heavy Higgs bosons the contributions are incorporated up to NNLO QCD. Two-loop electroweak effects are also incorporated, and SUSY QCD corrections at NLO are interpolated from the MSSM with real parameters. Finite wave function normalisation factors ensuring correct on-shell properties of the external Higgs bosons are incorporated from the code $\texttt{FeynHiggs}$. For the typical case of a strong admixture of the two heavy Higgs bosons it is demonstrated that squark effects are strongly dependent on the phases of the complex parameters. The remaining theoretical uncertainties for cross sections are discussed. The results have been implemented into an extension of the numerical code $\texttt{SusHi}$ called $\texttt{SusHiMi}$.

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