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We consider the problem of observer design for a nonholonomic car (more generally a wheeled robot) equipped with wheel speeds with unknown wheel radius, and whose position is measured via a GNSS antenna placed at an unknown position in the car. In a tutorial and unified exposition, we recall the recent theory of two-frame systems within the field of invariant Kalman filtering. We then show how to adapt it geometrically to address the considered problem, although it seems at first sight out of its scope. This yields an invariant extended Kalman filter having autonomous error equations, and state-independent Jacobians, which is shown to work remarkably well in simulations. The proposed novel construction thus extends the application scope of invariant filtering.

The issue of consistency is crucial in quantum gravity. It has recently been intensively addressed for effective symmetry-reduced models. In this article, we exhaustively study the anomaly freedom of effective loop quantum cosmology with generalized holonomy corrections, considering loop correction of the constraints at the perturbative order. We pedagogically explain why, although the holonomy correction -- including the details of the chosen scheme -- applied on the background part of the constraints is crucial, it becomes irrelevant when implemented on perturbative expansions, in the sense that all consequences are "absorbed" in the counter-terms used for the regularization. The possibility of closing the algebra of constraints without counter-terms is also studied. It is argued that, although enforcing a first-class algebra is a strong requirement, this can be achieved in several different ways, often overlooked, which generates ambiguities on the restriction of the form of the generalized holonomy correction. Those ambiguities are examined in details, leading to the conclusion that the consistency of the effective theory for cosmological perturbations, especially when considering scalar modes, cannot be achieved without counter-terms. We also take the opportunity of this work to clarify, as much as possible, all the required steps so that future works have a clear material at disposal. In particular, a highly detailed calculation of all the brackets is provided, emphasizing the (usually implicit) assumptions, hypotheses and manipulations required to ensure the closure of the algebra. Prospects for future works are underlined., Comment: 45 pages, no figures. Any questions, comments, and criticism are welcome

We review the kinematic effects on a gravitational wave due to either a peculiar motion of the astrophysical source emitting it or a local motion of the observer. Working in the context of general relativity, we show at fully non-linear order in velocity, that the amplitude of the wave is amplified by the Doppler factor in the case in which the source moves with respect to a reference frame, while it is invariant if the observer moves (with respect to a reference observer). However, the observed specific intensity transforms in the same way under a boost of the source or of the observer. We also show at fully non-linear order that under a boost (of either source or observer), the polarization tensor is rotated in the same way the wave direction is rotated by aberration, such that the only net effect of a boost on polarization is to change the phase of the helicity components. We apply these results to a wave emitted by a binary system of compact objects in the cosmological context., Comment: 39 pages, 5 figures

In this paper, we introduce the Iterated Invariant Extended Kalman Filter (IIEKF), which is an invariant extended Kalman filter (IEKF) where the updated state in the light of the latest measurement is defined as a maximum a posteriori (MAP) estimate. Under some compatibility requirements on the output map, we prove strong mathematical guarantees which echo those of the Kalman filter in the linear case. We apply the technique to two problems: solving a system of equations on a Lie group, and a problem of engineering interest, namely ego-localization of the hook of a crane. The latter serves as a benchmarking example, where the IIEKF favorably compares to other filters.

In this brief note, we pursue the systematic investigation of possible gravitational wave sources in the gigahertz band. We focus on hyperbolic encounters of light black holes and evaluate precisely the expected signal when accounting for the detailed characteristics of haloscope experiments. Considering the GraHal setup as a benchmark, we insist on the correct signal-to-noise ratio expression taking into account the appropriate timescales. The associated maximum distance - of the order of a few hundreds of astronomical units - at which an event can be detected is calculated for optimal, sub-optimal, and general trajectories.

We examine the main properties of gravitational waves (GWs) emitted by transient hyperbolic encounters of black holes. We begin by building the set of basic variables most relevant to setting our problem. After exposing the ranges of masses and eccentricities accessible at a given GW frequency, we analyze the dependence of the gravitational strain on those parameters and determine the trajectories resulting in the most sizeable strains. Some non-trivial behaviors are unveiled, showing that highly eccentric events can be more easily detectable than parabolic ones. In particular, we underline the correct way to extend formulas from hyperbolic to parabolic orbits. Our reasonings are as general as possible, and we make a point of explaining our considerations pedagogically., Comment: 10 pages, 4 figures

In this article we investigate smoothing (i.e., optimisation-based) estimation techniques for robot localization using an IMU aided by other localization sensors. We more particularly focus on Invariant Smoothing (IS), a variant based on the use of nontrivial Lie groups from robotics. We study the recently introduced Two Frames Group (TFG), and prove it can fit into the framework of Invariant Smoothing in order to better take into account the IMU biases, as compared to the state-of-the-art in robotics. Experiments based on the KITTI dataset show the proposed framework compares favorably to the state-of-the-art smoothing methods in terms of robustness in some challenging situations.

Recent advances in high-energy and high-peak-power laser systems have opened up new possibilities for fundamental physics research. In this work, the potential of twisted light for the generation of gravitational waves in the high frequency regime is explored for the first time. Focusing on Bessel beams, novel analytic expressions and numerical computations for the generated metric perturbations and associated powers are presented. Compelling evidence is provided that the properties of the generated gravitational waves, such as frequency, polarisation states and direction of emission, are controllable by the laser pulse parameters and optical arrangements.

This note aims at investigating two different situations where the classical general relativistic dynamics competes with the evolution driven by Hawking evaporation. We focus, in particular, on binary systems of black holes emitting gravitational waves and gravitons, and on the cosmological evolution when black holes are immersed in their own radiation bath. Several non-trivial features are underlined in both cases., Comment: 16 pages, 14 figures

This paper presents a gradient-based method for on-the-fly optimization for both per-frame and per-frequency window length of the short-time Fourier transform (STFT), related to previous work in which we developed a differentiable version of STFT by making the window length a continuous parameter. The resulting differentiable adaptive STFT possesses commendable properties, such as the ability to adapt in the same time-frequency representation to both transient and stationary components, while being easily optimized by gradient descent. We validate the performance of our method in vibration analysis., Comment: Accepted for IEEE International Conference on Acoustics, Speech, and SIgnal Processing (ICASSP) 2023

In this paper, we propose a differentiable version of the short-time Fourier transform (STFT) that allows for gradient-based optimization of the hop length or the frame temporal position by making these parameters continuous. Our approach provides improved control over the temporal positioning of frames, as the continuous nature of the hop length allows for a more finely-tuned optimization. Furthermore, our contribution enables the use of optimization methods such as gradient descent, which are more computationally efficient than conventional discrete optimization methods. Our differentiable STFT can also be easily integrated into existing algorithms and neural networks. We present a simulated illustration to demonstrate the efficacy of our approach and to garner interest from the research community., Comment: Accepted for IEEE Statistical Signal Processing workshop 2023. IEEE, 2023

This work provides, at lower order, general analytical solutions for the orbital separation, merging time, and orbital frequency of binary systems emitting gravitational waves while being submitted to mass variations. Specific features, depending on the exponent of the mass derivative, are investigated in details. Two phenomenologically interesting cases are explicitly considered : i) binaries formed by two light primordial black holes submitted to Hawking evaporation and ii) bodies driven by a Bondi accretion of phantom dark energy. It is shown that three different regimes arise, including an intricate non-monotonic behaviour of the system. We study subtle imprints that could be associated with those phenomena. A careful analysis of the conditions of validity of the different hypotheses performed is finally carried out.

Group field theory has shown to be a promising framework to derive cosmological predictions from full quantum gravity. In this brief note, we revisit the background dynamics when interaction terms are taken into account and conclude that, although the bounce is clearly robust, providing a geometrical explanation for inflation seems to be very difficult. We consider possible improvements and modifications of the original scenario and derive several limits on the parameters of the model.

In this paper we provide novel closed-form expressions enabling differentiation of any scalar function of the Kalman filter's outputs with respect to all its tuning parameters and to the measurements. The approach differs from the previous well-known sensitivity equations in that it is based on a backward (matrix) gradient calculation, that leads to drastic reductions of the overall computational cost. It is our hope that practitioners seeking numerical efficiency and reliability will benefit from the concise and exact equations derived in this paper and the methods that build upon them. They may notably lead to speed-ups when interfacing a neural network with a Kalman filter., Comment: Submitted

This article aims at clarifying the situation about astrophysical sources that might be observed with haloscope experiments sensitive to gravitational waves in the 1-10 GHz band. The GrAHal setup is taken as a benchmark. We follow a very pedagogical path so that the full analysis can easily be used by the entire community who might not be familiar with the theoretical framework. Different relevant physical regimes are considered in details and some formulas encountered in the literature are revised. In particular, we carefully take into account the fast drift of the gravitational wave frequency and the relevant experimental timescales. We also relax the usual assumption that only the merging phase should be considered. The distances that can be probed and expected event rates are carefully evaluated, taking into account degeneracies between physical parameters. We show where experimental efforts should be focused to improve the sensitivity and we conclude that any detection in the near future is extremely unlikely.

The propagation of perturbations is studied with generalized holonomy corrections in a fully consistent way, ensuring that the deformed algebra of constraints remains closed. The primordial cosmological power spectra are calculated. It is shown that, although the detailed form of the correction does unavoidably impact the observables, the main known results of loop quantum cosmology are robust in this respect.

In this paper, we revisit the use of spectrograms in neural networks, by making the window length a continuous parameter optimizable by gradient descent instead of an empirically tuned integer-valued hyperparameter. The contribution is mostly theoretical at this point, but plugging the modified STFT into any existing neural network is straightforward. We first define a differentiable version of the STFT in the case where local bins centers are fixed and independent of the window length parameter. We then discuss the more difficult case where the window length affects the position and number of bins. We illustrate the benefits of this new tool on an estimation and a classification problems, showing it can be of interest not only to neural networks but to any STFT-based signal processing algorithm., Comment: 8 pages, 8 figures, published as a conference paper at EUSIPCO 2022

If the spatial sections of the Universe are positively curved, extrapolating the inflationary stage backward in time inevitably leads to a classical bounce. This simple scenario, non-singular and free of exotic physics, deserves to be investigated in details. The background dynamics exhibits interesting features and is shown to be mostly insensitive to initial conditions as long as observational consequences are considered. The primordial scalar power spectrum is explicitly computed, for different inflaton potentials, and the subsequent CMB temperature anisotropies are calculated. The results are compatible with current measurements. Some deviations with respect to the standard paradigm can however appear at large scales and we carefully disentangle what is associated with the vacuum choice with what is more fundamentally due to the bounce itself.

In this paper we address smoothing-that is, optimisation-based-estimation techniques for localisation problems in the case where motion sensors are very accurate. Our mathematical analysis focuses on the difficult limit case where motion sensors are infinitely precise, resulting in the absence of process noise. Then the formulation degenerates, as the dynamical model that serves as a soft constraint becomes an equality constraint, and conventional smoothing methods are not able to fully respect it. By contrast, once an appropriate Lie group embedding has been found, we prove theoretically that invariant smoothing gracefully accommodates this limit case in that the estimates tend to be consistent with the induced constraints when the noise tends to zero. Simulations on the important problem of initial alignement in inertial navigation show that, in a low noise setting, invariant smoothing may favorably compare to state-of-the-art smoothers when using precise inertial measurements units (IMU)., Comment: Pre-print submitted to CDC 2022

Using the Schwarzschild metric as a rudimentary toy model, we pedagogically revisit the curious prediction that the mass of a classical black hole in a constant temperature thermal bath diverges in a finite amount of time. We study in detail how this instability behaves if the temperature of the bath is allowed to vary with time and conclude that whatever the background behavior (but for a zero-measure subspace of the initial conditions), the black hole mass either diverges or vanishes in a finite time if the Hawking radiation is taken into account. The competition between both effects is subtle and not entirely governed by the hierarchy of the relevant temperatures. This instability is also shown to be reached before the background singularity in a contracting universe, which has implications for bouncing models. The results are generalized to spaces with extra dimensions and the main conclusions are shown to remain true. The limitations of the model are reviewed, both from the point of view of the dynamical black hole horizon and from the point of view of the background space expansion. Comparisons with other approaches are suggested and possible developments are underlined.

The holographic space-time approach to inflation provides a well defined and self-contained framework to study the early universe. Based on a quasi-local quantum gravity theory generalizing string theory beyond AdS backgrounds, it addresses fundamental questions like the arrow of time and the entropy of the initial cosmological state. It was recently argued that it also provides a naturel explanation for dark matter in the form of primordial black holes. The orignal idea however suffers from troubles that can be cured by considering instead Planck relics. This possibility is investigated and paths for observational confirmation are pointed out.

While many works exploiting an existing Lie group structure have been proposed for state estimation, in particular the Invariant Extended Kalman Filter (IEKF), few papers address the construction of a group structure that allows casting a given system into the framework of invariant filtering. In this paper we introduce a large class of systems encompassing most problems involving a navigating vehicle encountered in practice. For those systems we introduce a novel methodology that systematically provides a group structure for the state space, including vectors of the body frame such as biases. We use it to derive observers having properties akin to those of linear observers or filters. The proposed unifying and versatile framework encompasses all systems where IEKF has proved successful, improves state-of-the art "imperfect" IEKF for inertial navigation with sensor biases, and allows addressing novel examples, like GNSS antenna lever arm estimation., Comment: Published in IEEE Transactions on Automatic Control, 21 January 2022

Most of the phenomenology of loop quantum gravity in the cosmological sector is based on the so-called holonomy correction to the Hamiltonian constraint. It straightforwardly modifies the Friedmann equations. In this work, we investigate the influence of corrections generalizing the one usually used in loop quantum cosmology. We find that a long enough inflation phase can be generated by purely quantum geometrical effects but we also underline the limitations of this scenario. In addition, we study the effects of generalized holonomy corrections on an inflationary phase generated by a massive scalar field. At the level of perturbations, we investigate in details the consequences on the primordial scalar power spectrum.

We consider the theory of spinor fields written in polar form, that is the form in which the spinor components are given in terms of a module times a complex unitary phase respecting Lorentz covariance. In this formalism, spinors can be treated in their most general mathematical form, without the need to restrict them to plane waves. As a consequence, calculations of scattering amplitudes can be performed by employing the most general fermion propagator, and not only the free propagator usually employed in QFT. In this article, we use these quantities to perform calculations in two notable processes, the electron-positron and Compton scatterings. We show that although the methodology differs from the one used in QFT, the final results in the two examples turn out to give no correction as predicted by QFT., Comment: 7 pages

This article aims at drawing the attention of astronomers on the ability of future cosmological surveys to put constraints on string theory. The fact that "quantum gravity" might be constrained by large scale astrophysical observations is a remarkable fact that has recently concentrated a great amount of interest. In this work, we focus on future observatories and investigate their capability to put string theory, which is sometimes said to be "unfalsifiable", under serious pressure. We show that the combined analysis of SKA, Euclid, and the Vera Rubin observatory - together with Planck results - could improve substantially the current limits on the relevant string swampland parameter. In particular, our analysis leads to a nearly model-independent prospective upper bound on the quintessence potential, |V'|/V<0.16, in strong contradiction with the so-called de Sitter conjecture. Some lines of improvements for the very long run are also drawn, together with generic prospective results, underlining the efficiency of this approach. The conjectures used in this work are discussed pedagogically, together with the cosmological models chosen in the analysis.

The idea that, after their evaporation, Planck-mass black holes might tunnel into metastable white holes has recently been intensively studied. Those relics have been considered as a dark matter candidate. We show that the model is severely constrained and underline some possible detection paths. We also investigate, in a more general setting, the way the initial black hole mass spectrum would be distorted by both the bouncing effect and the Hawking evaporation.

Electro-optical testing and characterization of the Vera C. Rubin Observatory Legacy Survey of Space and Time (LSST) Camera focal plane, consisting of 205 charge-coupled devices (CCDs) arranged into 21 stand-alone Raft Tower Modules (RTMs) and 4 Corner Raft Tower Modules (CRTMs), is currently being performed at the SLAC National Accelerator Laboratory. Testing of the camera sensors is performed using a set of custom-built optical projectors, designed to illuminate the full focal plane or specific regions of the focal plane with a series of light illumination patterns: the crosstalk projector, the flat illuminator projector, and the spot grid projector. In addition to measurements of crosstalk, linearity and full well, the ability to project realistically-sized sources, using the spot grid projector, makes possible unique measurements of instrumental signatures such as deferred charge distortions, astrometric shifts due to sensor effects, and the brighter-fatter effect, prior to camera first light. Here we present the optical projector designs and usage, the electro-optical measurements and how these results have been used in testing and improving the LSST Camera instrumental signature removal algorithms., Comment: 21 pages, 16 figures. SPIE Astronomical Telescopes + Instrumentation Digital Forum December 2020

Recent data suggest that the Universe could be positively curved. Combined with an inflationary stage, this might lead to a curvature bounce instead of the Big Bang. The background evolution is presented, as a function of the parameters controlling the cosmic evolution. The primordial tensor spectrum is also calculated and possible observational footprints of the model are underlined. Several potentials are considered and general remarks are made about "naturalness" in this context., Comment: 8 pages, 8 figures

We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as navigation or simultaneous localization and mapping (SLAM) depending on the context. To infer knowledge from sensors' measurements, while drawing on a priori knowledge about the vehicle's dynamics, modern approaches solve an optimization problem to compute the most likely trajectory given all past observations, an approach known as smoothing. Improving smoothing solvers is an active field of research in the SLAM community. Most work is focused on reducing computation load by inverting the involved linear system while preserving its sparsity. The present paper raises an issue which, to the knowledge of the authors, has not been addressed yet: standard smoothing solvers require explicitly using the inverse of sensor noise covariance matrices. This means the parameters that reflect the noise magnitude must be sufficiently large for the smoother to properly function. When matrices are close to singular, which is the case when using high precision modern inertial measurement units (IMU), numerical issues necessarily arise, especially with 32-bits implementation demanded by most industrial aerospace applications. We discuss these issues and propose a solution that builds upon the Kalman filter to improve smoothing algorithms. We then leverage the results to devise a localization algorithm based on fusion of IMU and vision sensors. Successful real experiments using an actual car equipped with a tactical grade high performance IMU and a LiDAR illustrate the relevance of the approach to the field of autonomous vehicles.

The recently introduced matrix group SE2(3) provides a 5x5 matrix representation for the orientation, velocity and position of an object in the 3-D space, a triplet we call "extended pose". In this paper we build on this group to develop a theory to associate uncertainty with extended poses represented by 5x5 matrices. Our approach is particularly suited to describe how uncertainty propagates when the extended pose represents the state of an Inertial Measurement Unit (IMU). In particular it allows revisiting the theory of IMU preintegration on manifold and reaching a further theoretic level in this field. Exact preintegration formulas that account for rotating Earth, that is, centrifugal force and Coriolis force, are derived as a byproduct, and the factors are shown to be more accurate. The approach is validated through extensive simulations and applied to sensor-fusion where a loosely-coupled fixed-lag smoother fuses IMU and LiDAR on one hour long experiments using our experimental car. It shows how handling rotating Earth may be beneficial for long-term navigation within incremental smoothing algorithms.