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In physics, synthetic dimensions trigger great interest to manipulate light in different ways, while in technology, lithium niobate shows important capability towards on-chip applications. Here, based on the state-of-art technology, we propose and study a theoretical model of dynamically-modulated waveguide arrays with the Su-Schrieffer-Heeger configuration in the spatial dimension. The propagation of light through the one-dimensional waveguide arrays mimics time evolution of field in a synthetic two-dimensional lattice including the frequency dimension. By adding the effective gauge potential, we find quasi-edge state that the intensity distribution manifests not at the boundary as the traditional edge state, which leads to an exotic topologically protected one-way transmission along adjacent boundary. Furthermore, a cosine-shape isolated band exhibits, supporting the topological Bloch oscillation in the frequency dimension under the effective constant force, which is localized at the spatial boundary and shows the topological feature. Our work therefore points out further capability of light transmission under topological protections in both spatial and spectral regimes, and provides future on-chip applications in the lithium niobate platform., Comment: 17 pages, 4 figures

Kinodynamic motion planning for non-holomonic mobile robots is a challenging problem that is lacking a universal solution. One of the computationally efficient ways to solve it is to build a geometric path first and then transform this path into a kinematically feasible one. Gradient-informed Path Smoothing (GRIPS) is a recently introduced method for such transformation. GRIPS iteratively deforms the path and adds/deletes the waypoints while trying to connect each consecutive pair of them via the provided steering function that respects the kinematic constraints. The algorithm is relatively fast but, unfortunately, does not provide any guarantees that it will succeed. In practice, it often fails to produce feasible trajectories for car-like robots with large turning radius. In this work, we introduce a range of modifications that are aimed at increasing the success rate of GRIPS for car-like robots. The main enhancement is adding the additional step that heuristically samples waypoints along the bottleneck parts of the geometric paths (such as sharp turns). The results of the experimental evaluation provide a clear evidence that the success rate of the suggested algorithm is up to 40% higher compared to the original GRIPS and hits the bar of 90%, while its runtime is lower., Comment: 6 pages, 6 figures

In this paper, we consider the problem of multi-agent navigation in partially observable grid environments. This problem is challenging for centralized planning approaches as they, typically, rely on the full knowledge of the environment. We suggest utilizing the reinforcement learning approach when the agents, first, learn the policies that map observations to actions and then follow these policies to reach their goals. To tackle the challenge associated with learning cooperative behavior, i.e. in many cases agents need to yield to each other to accomplish a mission, we use a mixing Q-network that complements learning individual policies. In the experimental evaluation, we show that such approach leads to plausible results and scales well to large number of agents., Comment: This is a preprint of the paper accepted to RCAI 2021. It contains 11 pages and 5 figures

Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics and Artificial Intelligence in which one needs to find a set of collision-free paths for a group of mobile agents (robots) operating in the shared workspace. Due to its importance, the problem is well-studied and multiple optimal and approximate algorithms are known. However, many of them abstract away from the kinematic constraints and assume that the agents can accelerate/decelerate instantaneously. This complicates the application of the algorithms on the real robots. In this paper, we present a method that mitigates this issue to a certain extent. The suggested solver is essentially, a prioritized planner based on the well-known Safe Interval Path Planning (SIPP) algorithm. Within SIPP we explicitly reason about the speed and the acceleration thus the constructed plans directly take kinematic constraints of agents into account. We suggest a range of heuristic functions for that setting and conduct a thorough empirical evaluation of the suggested algorithm., Comment: 13 pages, 3 figures, ICR 2021

Baikal-GVD is a neutrino telescope currently under construction in Lake Baikal. GVD is formed by multi-meganton subarrays (clusters). The design of Baikal-GVD allows one to search for astrophysical neutrinos already at early phases of the array construction. We present here preliminary results of a search for high-energy neutrinos with GVD in 2019-2020., Comment: Submitted to Proc. of the 37th International Cosmic Ray Conference (ICRC 2021), PoS-1144, July 12th -- 23rd, 2021, Online -- Berlin, Germany. 8 pages, 7 figures

The Baikal-GVD is a neutrino telescope under construction in Lake Baikal. The main goal of the Baikal-GVD is to observe neutrinos via detecting the Cherenkov radiation of the secondary charged particles originating in the interactions of neutrinos. In 2021, the installation works concluded with 2304 optical modules installed in the lake resulting in effective volume approximately 0.4 km$^{3}$. In this paper, the first steps in the development of double cascade reconstruction techniques are presented., Comment: Presented at the 37th International Cosmic Ray Conference (ICRC 2021)

Baikal-GVD is a kilometer scale neutrino telescope currently under construction in Lake Baikal. Due to water currents in Lake Baikal, individual photomultiplier housings are mobile and can drift away from their initial position. In order to accurately determine the coordinates of the photomultipliers, the telescope is equipped with an acoustic positioning system. The system consists of a network of acoustic modems, installed along the telescope strings and uses acoustic trilateration to determine the coordinates of individual modems. This contribution discusses the current state of the positioning in Baikal-GVD, including the recent upgrade to the acoustic modem polling algorithm., Comment: Presented at 37th International Cosmic Ray Conference (ICRC 2021)

The Baikal-GVD is a large scale neutrino telescope being constructed in Lake Baikal. The majority of signal detected by the telescope are noise hits, caused primarily by the luminescence of the Baikal water. Separating noise hits from the hits produced by Cherenkov light emitted from the muon track is a challenging part of the muon event reconstruction. We present an algorithm that utilizes a known directional hit causality criterion to contruct a graph of hits and then use a clique-based technique to select the subset of signal hits.The algorithm was tested on realistic detector Monte-Carlo simulation for a wide range of muon energies and has proved to select a pure sample of PMT hits from Cherenkov photons while retaining above 90\% of original signal., Comment: Presented at the 37th International Cosmic Ray Conference (ICRC 2021)

The large-scale deep underwater Cherenkov neutrino telescopes like Baikal-GVD, ANTARES or KM3NeT, require calibration and testing methods of their optical modules. These methods usually include laser-based systems which allow to check the telescope responses to the light and for real-time monitoring of the optical parameters of water such as absorption and scattering lengths, which show seasonal changes in natural reservoirs of water. We will present a testing method of a laser calibration system and a set of dedicated tools developed for Baikal- GVD, which includes a specially designed and built, compact, portable, and reconfigurable scanning station. This station is adapted to perform fast quality tests of the underwater laser sets just before their deployment in the telescope structure, even on ice, without darkroom. The testing procedure includes the energy stability test of the laser device, 3D scan of the light emission from the diffuser and attenuation test of the optical elements of the laser calibration system. The test bench consists primarily of an automatic mechanical scanner with a movable Si detector, beam splitter with a reference Si detector and, optionally, Q-switched diode-pumped solid-state laser used for laboratory scans of the diffusers. The presented test bench enables a three-dimensional scan of the light emission from diffusers, which are designed to obtain the isotropic distribution of photons around the point of emission. The results of the measurement can be easily shown on a 3D plot immediately after the test and may be also implemented to a dedicated program simulating photons propagation in water, which allows to check the quality of the diffuser in the scale of the Baikal-GVD telescope geometry., Comment: Presented at the VLVnT - Very Large Volume Neutrino Telescope Workshop, Valencia, 18-21 May 2021

The Baikal-GVD (Gigaton Volume Detector) is a km$^{3}$- scale neutrino telescope located in Lake Baikal. Currently (year 2021) the Baikal-GVD is composed of 2304 optical modules divided to 8 independent detection units, called clusters. Specific neutrino interactions can cause Cherenkov light topology, referred to as a cascade. However, cascade-like events originate from discrete stochastic energy losses along muon tracks. These cascades produce the most abundant background in searching for high-energy neutrino cascade events. Several methods have been developed, optimized, and tested to suppress background cascades., Comment: Presented at the 37th International Cosmic Ray Conference (ICRC 2021)

The main purpose of the Baikal-GVD Data Quality Monitoring (DQM) system is to monitor the status of the detector and collected data. The system estimates quality of the recorded signals and performs the data validation. The DQM system is integrated with the Baikal-GVD's unified software framework ("BARS") and operates in quasi-online manner. This allows us to react promptly and effectively to the changes in the telescope conditions., Comment: Contribution from the Baikal-GVD Collaboration presented at the 37th International Cosmic Ray Conference, Online - Berlin, Germany, 12-23 July 2021. Proceeding: PoS-ICRC2021-1094

The Baikal-GVD deep underwater neutrino experiment participates in the international multi-messenger program on discovering the astrophysical sources of high energy fluxes of cosmic particles, while being at the stage of deployment with a gradual increase of its effective volume to the scale of a cubic kilometer. In April 2021 the effective volume of the detector has been reached 0.4 km3 for cascade events with energy above 100 TeV generated by neutrino interactions in Lake Baikal. The alarm system in real-time monitoring of the celestial sphere was launched at the beginning of 2021, that allows to form the alerts of two ranks like "muon neutrino" and "VHE cascade". Recent results of fast follow-up searches for coincidences of Baikal-GVD high energy cascades with ANTARES/TAToO high energy neutrino alerts and IceCube GCN messages will be presented, as well as preliminary results of searches for high energy neutrinos in coincidence with the magnetar SGR 1935+2154 activity in period of radio and gamma burst in 2020., Comment: Submitted to Proc. of the 37th International Cosmic Ray Conference (ICRC 2021), PoS-0946, July 12th -- 23rd, 2021, Online -- Berlin, Germany. 8 pages, 5 figures

The high-energy muon neutrino events of the IceCube telescope, that are triggered as neutrino alerts in one of two probability ranks of astrophysical origin, "gold" and "bronze", have been followed up by the Baikal-GVD in a fast quasi-online mode since September 2020. Search for correlations between alerts and GVD events reconstructed in two modes, muon-track and cascades (electromagnetic or hadronic showers), for the time windows $ \pm $ 1 h and $ \pm $ 12 h does not indicate statistically significant excess of the measured events over the expected number of background events. Upper limits on the neutrino fluence will be presented for each alert., Comment: 5 pages, 5 figures, Proceedings for the VLVnT 2021 conference, submitted to JINST

We present data on the Baikal water luminescence collected with the Baikal-GVD neutrino telescope. This three-dimensional array of photo-sensors allows the observation of time and spatial variations of the ambient light field. We report on annual increase of luminescence activity in years 2018-2020. We observed a unique event of a highly luminescent layer propagating upwards with a maximum speed of 28 m/day for the first time., Comment: Contribution at 37th International Cosmic Ray Conference (ICRC 2021). arXiv admin note: text overlap with arXiv:1908.06509

The first stage of the construction of the deep underwater neutrino telescope Baikal-GVD is planned to be completed in 2024. The second stage of the detector deployment is planned to be carried out using a data acquisition system based on fibre optic technologies, which will allow for increased data throughput and more flexible trigger conditions. A dedicated test facility has been built and deployed at the Baikal-GVD site to test the new technological solutions. We present the principles of operation and results of tests of the new data acquisition system., Comment: 4 pages, 1 figure, presented at the Conference VLVnT 2021

Baikal-GVD is a gigaton-scale neutrino observatory under construction in Lake Baikal. It currently produces about 100 GB of data every day. For their automatic processing, the Baikal Analysis and Reconstruction software (BARS) was developed. At the moment, it includes such stages as hit extraction from PMT waveforms, assembling events from raw data, assigning timestamps to events, determining the position of the optical modules using an acoustic positioning system, data quality monitoring, muon track and cascade reconstruction, as well as the alert signal generation. These stages are implemented as C++ programs which are executed sequentially one after another and can be represented as a directed acyclic graph. The most resource-consuming programs run in parallel to speed up processing. A separate Python package based on the luigi package is responsible for program execution control. Additional information such as the program execution status and run metadata are saved into a central database and then displayed on the dashboard. Results can be obtained several hours after the run completion., Comment: Presented at the 37th International Cosmic Ray Conference (ICRC 2021)

We study a simple model describing thermal radiation spectra from magnetized neutron stars. The model assumes that a star is nearly spherical and isothermal inside and possesses dipole magnetic fields ($B \lesssim 10^{14}$ G) near the surface, which make the surface temperature distribution non--uniform. We assume further that any surface element emits a blackbody (BB) spectrum with a local effective temperature. We show that such thermal spectra (including phase--resolved) are accurately approximated by simple equivalent two--BB (2BB) models. We introduce and study phase--space maps of 2BB parameters and show that these maps can be useful for interpreting neutron star observations, in which 2BB spectral fits have been done., Comment: 10 pages, 8 figures, MNRAS, accepted

The Yakutsk Extensive Air Shower Array has been continuously operating for more than 50 years (since 1970) and up until recently it has been one of world's largest ground-based instruments aimed at studying the properties of cosmic rays in the ultra-high energy domain. In this report we discuss results recently obtained at the array - on cosmic rays energy spectrum, mass composition and directional anisotropy - and how they fit into the world data. Special attention is paid to the measurements of muonic component of extensive air showers. Theoretical results of particle acceleration at shocks are also briefly reviewed. Future scientific and engineering plans on the array modernization are discussed., Comment: 24 pages, 7 figures. Accepted for publication in Physics of Atomic Nuclei. For color figures see ISCRA-2021 contribution: https://indico.nevod.mephi.ru/event/6/contributions/161/

Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local observations/communications. Prominent collision avoidance techniques, e.g. ORCA, are computationally efficient and scale well to a large number of agents. However, in numerous scenarios, involving navigation through the tight passages or confined spaces, deadlocks are likely to occur due to the egoistic behaviour of the agents and as a result, the latter can not achieve their goals. To this end, we suggest an application of the locally confined multi-agent path finding (MAPF) solvers that coordinate sub-groups of the agents that appear to be in a deadlock (to detect the latter we suggest a simple, yet efficient ad-hoc routine). We present a way to build a grid-based MAPF instance, typically required by modern MAPF solvers. We evaluate two of them in our experiments, i.e. Push and Rotate and a bounded-suboptimal version of Conflict Based Search (ECBS), and show that their inclusion into the navigation pipeline significantly increases the success rate, from 15% to 99% in certain cases., Comment: This is a preprint of the paper accepted to CASE'21. It contains 5 pages, 4 figures, 1 table

We study experimentally and theoretically the temperature dependence of transverse magnetic routing of light emission from hybrid plasmonic-semiconductor quantum well structures where the exciton emission from the quantum well is routed into surface plasmon polaritons propagating along a nearby semiconductor-metal interface. In II-VI and III-V direct band semiconductors the magnitude of routing is governed by the circular polarization of exciton optical transitions, that is induced by a magnetic field. For structures comprising a (Cd,Mn)Te/(Cd,Mg)Te diluted magnetic semiconductor quantum well we observe a strong directionality of the emission up to 15% at low temperature of 20 K and magnetic field of 485 mT due to giant Zeeman splitting of holes mediated via the strong exchange interaction with Mn$^{2+}$ ions. For increasing temperatures towards room-temperature the magnetic susceptibility decreases and the directionality strongly decreases to 4% at T = 45 K. We also propose an alternative design based on a non-magnetic (In,Ga)As/(In,Al)As quantum well structure, suitable for higher temperatures. According to our calculations, such structure can demonstrate emission directionality up to 5% for temperatures below 200 K and moderate magnetic fields of 1 T., Comment: 15 pages, 10 figures

The Baikal Gigaton Volume Detector (Baikal-GVD) is a km$^3$-scale neutrino detector currently under construction in Lake Baikal, Russia. The detector consists of several thousand optical sensors arranged on vertical strings, with 36 sensors per string. The strings are grouped into clusters of 8 strings each. Each cluster can operate as a stand-alone neutrino detector. The detector layout is optimized for the measurement of astrophysical neutrinos with energies of $\sim$ 100 TeV and above. Events resulting from charged current interactions of muon (anti-)neutrinos will have a track-like topology in Baikal-GVD. A fast $\chi^2$-based reconstruction algorithm has been developed to reconstruct such track-like events. The algorithm has been applied to data collected in 2019 from the first five operational clusters of Baikal-GVD, resulting in observations of both downgoing atmospheric muons and upgoing atmospheric neutrinos. This serves as an important milestone towards experimental validation of the Baikal-GVD design. The analysis is limited to single-cluster data, favoring nearly-vertical tracks., Comment: 15 pages, 6 figures, 1 table, to be published in Eur. Phys. J. C

The completion of the PIP-II project and its superconducting linear accelerator will provide up to 1.2 MW of beam power to the LBNF/DUNE facility for neutrino physics. It will also be able to produce high-power beams directly from the linac that can be used for lower-energy particle physics experiments as well, such as directing beam toward the Muon Campus at Fermilab for example. Any further significant upgrade of the beam power to DUNE, however, will be impeded by the limitations of the present Booster synchrotron at the facility. To increase the power to DUNE by a factor of two would require a new accelerator arrangement to feed the Main Injector that does not include the Booster. In what follows, a path toward upgrading the Fermilab accelerator complex to bring the beam power for DUNE to 2.4 MW is presented, using a new rapid-cycling synchrotron plus an energy upgrade to the PIP-II linac. The path includes the ability to instigate a new lower-energy, very high-power beam delivery system for experiments that can address much of the science program presented by the Booster Replacement Science Working Group. It also allows for the future possibility to go beyond 2.4 MW up to roughly 4 MW from the Main Injector., Comment: 54 pages, 26 figures (also one table with a figure, counting each figure with multiple images), 35 references. Snowmass 21 White Paper

A novel spin orientation mechanism - dynamic electron spin polarization has been recently suggested in Phys. Rev. Lett. $\mathbf{125}$, 156801 (2020). It takes place for unpolarized optical excitation in weak magnetic fields of the order of a few millitesla. In this paper we demonstrate experimentally and theoretically that the dynamic electron spin polarization degree changes sign as a function of time, strength of the applied magnetic field and its direction. The studies are performed on indirect band-gap (In,Al)As/AlAs quantum dots and their results are explained in the framework of a theoretical model developed for our experimental setting., Comment: 14 pages, 16 figures

Running numerous experiments in simulation is a necessary step before deploying a control system on a real robot. In this paper we introduce a novel benchmark that is aimed at quantitatively evaluating the quality of vision-based simultaneous localization and mapping (vSLAM) and map merging algorithms. The benchmark consists of both a dataset and a set of tools for automatic evaluation. The dataset is photo-realistic and provides both the localization and the map ground truth data. This makes it possible to evaluate not only the localization part of the SLAM pipeline but the mapping part as well. To compare the vSLAM-built maps and the ground-truth ones we introduce a novel way to find correspondences between them that takes the SLAM context into account (as opposed to other approaches like nearest neighbors). The benchmark is ROS-compatable and is open-sourced to the community. The data and the code are available at: \texttt{github.com/CnnDepth/MAOMaps}., Comment: submitted to ECMR-2021

The inhomogeneity of an electron spin ensemble as well as fluctuating environment acting upon individual spins drastically shorten the spin coherence time $T_2$ and hinder coherent spin manipulation. We show that this problem can be solved by the simultaneous application of a radiofrequency (rf) field, which stimulates coherent spin precession decoupled from an inhomogeneous environment, and periodic optical pulses, which amplify this precession. The resulting resonance, taking place when the rf field frequency approaches the laser pulse repetition frequency, has a width determined by the spin coherence time $T_2$ that is free from the inhomogeneity effects. We measure a 50-Hz-narrow electron spin resonance and milliseconds-long $T_2$ for electrons in the ground state of Ce$^{3+}$ ions in the YAG lattice at low temperatures, while the inhomogeneous spin dephasing time $T_2^*$ is only 25 ns. This study paves the way to coherent optical manipulation in spin systems decoupled from their inhomogeneous environment., Comment: 9 pages, 8 figures

The Standing Wave (SW) TESLA niobium-based superconducting radio frequency structure is limited to an accelerating gradient of about 50 MV/m by the critical RF magnetic field. To break through this barrier, we explore the option of niobium-based traveling wave (TW) structures. Optimization of TW structures was done considering experimentally known limiting electric and magnetic fields. It is shown that a TW structure can have an accelerating gradient above 70 MeV/m that is about 1.5 times higher than contemporary standing wave structures with the same critical magnetic field. The other benefit of TW structures shown is R/Q about 2 times higher than TESLA structure that reduces the dynamic heat load by a factor of 2. A method is proposed how to make TW structures multipactor-free. Some design proposals are offered to facilitate fabrication. Further increase of the real-estate gradient (equivalent to 80 MV/m active gradient) is also possible by increasing the length of the accelerating structure because of higher group velocity and cell-to-cell coupling. Realization of this work opens paths to ILC energy upgrades beyond 1 TeV to 3 TeV in competition with CLIC. The paper will discuss corresponding opportunities and challenges., Comment: 13 pages, 14 figures

Photoconductive field sampling is a key methodology for advancing our understanding of light-matter interaction and ultrafast optoelectronic applications. For visible light the bandwidth of photoconductive sampling of fields and field-induced dynamics can be extended to the petahertz domain. Despite the growing importance of ultrafast photoconductive measurements, a rigorous model for connecting the microscopic electron dynamics to the macroscopic external signal is lacking. This has caused conflicting interpretations about the origin of macroscopic currents. Here, we present systematic experimental studies on the macroscopic signal formation of ultrafast currents in gases. We developed a theoretical model based on the Ramo-Shockley-theorem that overcomes the previously introduced artificial separation into dipole and current contributions. Extensive numerical particle-in-cell (PIC)-type simulations based on this model permit a quantitative comparison with experimental results and help to identify the roles of electron scattering and Coulomb interactions. The results imply that most of the heuristic models utilized so far will need to be amended. Our approach can aid in the design of more sensitive and more efficient photoconductive devices. We demonstrate for the case of gases that over an order of magnitude increase in signal is achievable, paving the way towards petahertz field measurements with the highest sensitivity., Comment: 12 pages, 7 figures

We apply a new highly efficient method of solving Faddeev-Merkuriev equations to multi-channel scattering calculations of the antihydrogen formation cross section for antiproton scattering off the ground and excited states of the positronium. Our results demonstrate good agreement with the known data on total and partial cross sections for all the reaction channels. Using moderate computational resources we have achieved a supreme energy resolution.

Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms for any-angle path finding in static environments exist. However, when dynamic obstacles are present and time is the objective to be minimized, these algorithms can no longer guarantee optimality. In this work, we elaborate on why this is the case and what techniques can be used to solve the problem optimally. We present two algorithms, grounded in the same idea, that can obtain provably optimal solutions to the considered problem. One of them is a naive algorithm and the other one is much more involved. We conduct a thorough empirical evaluation showing that, in certain setups, the latter algorithm might be as fast as the previously-known greedy non-optimal solver while providing solutions of better quality. In some (rare) cases, the difference in cost is up to 76%, while on average it is lower than one percent (the same cost difference is typically observed between optimal and greedy any-angle solvers in static environments)., Comment: This is a pre-print of the paper accepted to ICAPS 2021

We reveal the existence of a large in-plane heavy-hole $g$ factor in symmetric self-assembled (001) (In,Ga)As/GaAs quantum dots due to warping of valence band states. This warping dominates over the well-established mechanism associated with a reduced symmetry of quantum dots and the corresponding mixing of heavy-hole and light-hole states. The effect of band warping is manifested in a unique angular dependence of a trion photon echo signal on the direction of external magnetic field with respect to the sample axes. It results in a uniform magnetic-field-induced optical anisotropy for the entire quantum dot ensemble which is a prerequisite for realization of spin quantum memories and spin-photon entanglement in the ensemble., Comment: 5 pages, 3 figures, supplementary information: 10 pages, 10 figs

Near the surface of any neutron star there is a thin heat blanketing envelope that produces substantial thermal insulation of warm neutron star interiors and that relates the internal temperature of the star to its effective surface temperature. Physical processes in the blanketing envelopes are reasonably clear but the chemical composition is not. The latter circumstance complicates inferring physical parameters of matter in the stellar interiors from observations of the thermal surface radiation of the stars and urges one to elaborate the models of blanketing envelopes. We outline physical properties of these envelopes, particularly, the equation of state, thermal conduction, ion diffusion and others. Various models of heat blankets are reviewed, such as composed of separate layers of different elements, or containing diffusive binary ion mixtures in or out of diffusion equilibrium. The effects of strong magnetic fields in the envelopes are outlined as well as the effects of high temperatures which induce strong neutrino emission in the envelopes themselves. Finally, we discuss how the properties of the heat blankets affect thermal evolution of neutron stars and the ability to infer important information on internal structure of neutron stars from observations., Comment: 82 pages, 26 figures, accepted for publication in Physics Reports