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This paper connects two methods for finding the functional of entropy in F(R)-Gravity: Padmanabhan's and Hammad's. The resulting approach is simple to follow and yields entropy functional, which can be separated into two parts. The part unknown in General Relativity is often called in the literature as an internal entropy and this paper points on incompatibility between the internal entropy found from the entropy functional and the one found using conventional approach.

Using LLMs (Large Language Models) in conjunction with external documents has made RAG (Retrieval-Augmented Generation) an essential technology. Numerous techniques and modules for RAG are being researched, but their performance can vary across different datasets. Finding RAG modules that perform well on specific datasets is challenging. In this paper, we propose the AutoRAG framework, which automatically identifies suitable RAG modules for a given dataset. AutoRAG explores and approximates the optimal combination of RAG modules for the dataset. Additionally, we share the results of optimizing a dataset using AutoRAG. All experimental results and data are publicly available and can be accessed through our GitHub repository https://github.com/Marker-Inc-Korea/AutoRAG_ARAGOG_Paper ., Comment: 20 pages

Inorganic halide perovskites have become attractive for many optoelectronic applications due to their outstanding properties. While chemical synthesis techniques have been successful in producing high-quality perovskite crystals, scaling up to wafer-scale thin films remains challenging. Vapor deposition methods, particularly physical vapor deposition and chemical vapor deposition, have emerged as potential solutions for large-scale thin film fabrication. However, the control of phase purity during deposition remains problematic. Here, we investigate single-source (CsPbBr3) and dual-source (CsBr and PbBr2) vapor deposition techniques to achieve phase-pure CsPbBr3 thin films. Utilizing Knudsen Effusion Mass Spectrometry, we demonstrate that while the single-source CsPbBr3 evaporation is partially congruent, it leads to compositional changes in the evaporant over time. The dual-source evaporation, with a precise control of the PbBr2/CsBr flux ratio, can improve phase purity, particularly at elevated substrate temperatures at excess PbBr2 conditions. Our results give direct evidence that the growth is CsBr-limited. Overall, our findings provide critical insights into the vapor phase deposition processes, highlighting the importance of evaporation conditions in achieving the desired inorganic perovskite stoichiometry and morphology., Comment: 33 pages, 5 figures, 8 figures in Supporting Information

This paper describes the 2nd edition of the ICML Topological Deep Learning Challenge that was hosted within the ICML 2024 ELLIS Workshop on Geometry-grounded Representation Learning and Generative Modeling (GRaM). The challenge focused on the problem of representing data in different discrete topological domains in order to bridge the gap between Topological Deep Learning (TDL) and other types of structured datasets (e.g. point clouds, graphs). Specifically, participants were asked to design and implement topological liftings, i.e. mappings between different data structures and topological domains --like hypergraphs, or simplicial/cell/combinatorial complexes. The challenge received 52 submissions satisfying all the requirements. This paper introduces the main scope of the challenge, and summarizes the main results and findings., Comment: Proceedings of the Geometry-grounded Representation Learning and Generative Modeling Workshop (GRaM) at ICML 2024

In this article we prove the subrank of a generic tensor in $\mathbb{C}^{n,n,n}$ to be $Q(n) = \lfloor\sqrt{3n - 2}\rfloor$ by providing a lower bound to the known upper bound. More generally, we find the generic subrank of tensors of all orders and dimensions. This answers two open questions posed in arXiv:2205.15168v2. Finally, we compute dimensions of varieties of tensors of subrank at least $r$., Comment: 14 pages, comments welcome!

The combined structural and electronic complexity of iron oxides poses many challenges to atomistic modeling. To leverage limitations in terms of the accessible length and time scales, one requires a physically justified interatomic potential which is accurate to correctly account for the complexity of iron-oxygen systems. Such a potential is not yet available in the literature. In this work, we propose a machine-learning potential based on the Atomic Cluster Expansion for modeling the iron-oxygen system, which explicitly accounts for magnetism. We test the potential on a wide range of properties of iron and its oxides, and demonstrate its ability to describe the thermodynamics of systems spanning the whole range of oxygen content and including magnetic degrees of freedom., Comment: Manuscript: 14 pages, 9 figures, SI: 6 pages, 7 figures

A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guidance method dubbed EPN is proposed, designed to catch agile maneuvering targets while relying on onboard state estimation and tracking. The proposed method is compared with state-of-the-art approaches in simulations using 100 different trajectories of the target with varying complexity comprising almost 14 hours of flight data, and EPN demonstrates the shortest response time and the highest number of interceptions, which are key parameters of agile interception. To enable robust transfer from theory and simulation to a real-world implementation, we aim to avoid overfitting to specific assumptions about the target, and to tackle interception of a target following an unknown general trajectory. Furthermore, we identify several often overlooked problems related to tracking and estimation of the target's state that can have a significant influence on the overall performance of the system. We propose the use of a novel state estimation filter based on the IMM filter and a new measurement model. Simulated experiments show that the proposed solution provides significant improvements in estimation accuracy over the commonly employed KF approaches when considering general trajectories. Based on these results, we employ the proposed filtering and guidance methods to implement a complete autonomous interception system, which is thoroughly evaluated in realistic simulations and tested in real-world experiments with a maneuvering target going far beyond the performance of any state-of-the-art solution.

Adversarial EXEmples are carefully-perturbed programs tailored to evade machine learning Windows malware detectors, with an on-going effort in developing robust models able to address detection effectiveness. However, even if robust models can prevent the majority of EXEmples, to maintain predictive power over time, models are fine-tuned to newer threats, leading either to partial updates or time-consuming retraining from scratch. Thus, even if the robustness against attacks is higher, the new models might suffer a regression in performance by misclassifying threats that were previously correctly detected. For these reasons, we study the trade-off between accuracy and regression when updating Windows malware detectors, by proposing EXE-scanner, a plugin that can be chained to existing detectors to promptly stop EXEmples without causing regression. We empirically show that previously-proposed hardening techniques suffer a regression of accuracy when updating non-robust models. On the contrary, we show that EXE-scanner exhibits comparable performance to robust models without regression of accuracy, and we show how to properly chain it after the base classifier to obtain the best performance without the need of costly retraining. To foster reproducibility, we openly release source code, along with the dataset of adversarial EXEmples based on state-of-the-art perturbation algorithms., Comment: 11 pages, 3 figures, 7 tables

The high computational demands of multiscale modeling necessitate advanced parallel and adaptive strategies. To address this challenge, we introduce an adaptive method that utilizes two microscale models based on an offline database for multiscale modeling of curved interfaces (e.g., adhesive layers). This database employs nonlinear classifiers, developed using Support Vector Machines from microscale sampling data, as a preprocessing step for multiscale simulations. Next, we develop a new parallel network library that enables seamless model selection with customized communication layers, ensuring scalability in parallel computing environments. The correctness and effectiveness of the hierarchically parallel solver are verified on a crack propagation problem within the curved adhesive layer. Finally, we predict the ultimate bending moment and adhesive layer failure of a wind turbine blade and validate the solver on a difficult large-scale engineering problem.

Retrieval-Augmented Generation (RAG) is essential for integrating external knowledge into Large Language Model (LLM) outputs. While the literature on RAG is growing, it primarily focuses on systematic reviews and comparisons of new state-of-the-art (SoTA) techniques against their predecessors, with a gap in extensive experimental comparisons. This study begins to address this gap by assessing various RAG methods' impacts on retrieval precision and answer similarity. We found that Hypothetical Document Embedding (HyDE) and LLM reranking significantly enhance retrieval precision. However, Maximal Marginal Relevance (MMR) and Cohere rerank did not exhibit notable advantages over a baseline Naive RAG system, and Multi-query approaches underperformed. Sentence Window Retrieval emerged as the most effective for retrieval precision, despite its variable performance on answer similarity. The study confirms the potential of the Document Summary Index as a competent retrieval approach. All resources related to this research are publicly accessible for further investigation through our GitHub repository ARAGOG (https://github.com/predlico/ARAGOG). We welcome the community to further this exploratory study in RAG systems., Comment: 14 pages, 8 figures, associated Github repo: https://github.com/predlico/ARAGOG

This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a human worker. The approach is designed to monitor the safety of human workers, particularly those operating at heights. In the proposed dynamic formation scheme, one UAV acts as the formation leader, equipped with sensors for detecting human workers and recognizing gestures. The follower UAVs maintain a predetermined formation relative to the worker's position, providing additional perspectives of the monitored scene. Hand gestures enable the human worker to specify movement and action commands for the UAV team and to initiate other mission-related tasks without requiring additional communication channels or specific markers. Combined with a novel unified human detection and tracking algorithm, a human position estimation method, and a gesture detection pipeline, the proposed approach represents the first instance of an HSI system incorporating all these modules onboard real-world UAVs. Simulations and field experiments involving three UAVs and a human worker in a mock-up scenario demonstrate the effectiveness and responsiveness of the proposed approach., Comment: 8 pages, 8 figures

We present a comprehensive and user-friendly framework built upon the pyiron integrated development environment (IDE), enabling researchers to perform the entire Machine Learning Potential (MLP) development cycle consisting of (i) creating systematic DFT databases, (ii) fitting the Density Functional Theory (DFT) data to empirical potentials or MLPs, and (iii) validating the potentials in a largely automatic approach. The power and performance of this framework are demonstrated for three conceptually very different classes of interatomic potentials: an empirical potential (embedded atom method - EAM), neural networks (high-dimensional neural network potentials - HDNNP) and expansions in basis sets (atomic cluster expansion - ACE). As an advanced example for validation and application, we show the computation of a binary composition-temperature phase diagram for Al-Li, a technologically important lightweight alloy system with applications in the aerospace industry.

The quantum rotor represents, after the harmonic oscillator, the next obvious quantum system to study the complementary pair of variables: the angular momentum and the unitary shift operator in angular momentum. Proper quantification of uncertainties and the incompatibility of these two operators are thus essential for applications of rotor-like quantum systems. While angular momentum uncertainty is characterized by variance, several uncertainty measures have been proposed for the shift operator, with dispersion the simplest example. We establish a hierarchy of those measures and corresponding uncertainty relations which are all perfectly or almost perfectly saturated by a tomographically complete set of von Mises states. Building on the interpretation of dispersion as the moment of inertia of the unit ring we then show that the other measures also possess the same mechanical interpretation. This unifying perspective allows us to express all measures as a particular instance of a single generic angular uncertainty measure. The importance of these measures is then highlighted by applying the simplest two of them to derive optimal simultaneous measurements of the angular momentum and the shift operator. Finally, we argue that the model of quantum rotor extends beyond its mechanical meaning with promising applications in the fields of singular optics, super-conductive circuits with a Josephson junction or optimal pulse shaping in the time-frequency domain. Our findings lay the groundwork for quantum-information and metrological applications of the quantum rotor and point to its interdisciplinary nature., Comment: 13 pages, 4 figures

This study presents an empirical investigation into the design and impact of autonomous dialogues in human-robot interaction for behavior change coaching. We focus on the use of Haru, a tabletop social robot, and explore the implementation of the Tiny Habits method for fostering positive behavior change. The core of our study lies in developing a fully autonomous dialogue system that maximizes Haru's emotional expressiveness and unique personality. Our methodology involved iterative design and extensive testing of the dialogue system, ensuring it effectively embodied the principles of the Tiny Habits method while also incorporating strategies for trust-raising and trust-dampening. The effectiveness of the final version of the dialogue was evaluated in an experimental study with human participants (N=12). The results indicated a significant improvement in perceptions of Haru's liveliness, interactivity, and neutrality. Additionally, our study contributes to the broader understanding of dialogue design in social robotics, offering practical insights for future developments in the field., Comment: Accepted as Late Breaking Report (LBR) at the 19th Annual ACM/IEEE International Conference on Human Robot Interaction (HRI '24)

We elucidated the core structure of screw dislocations in ordered B2 FeCo using a recent magnetic bond-order potential (BOP) [Egorov et al., Phys. Rev. Mater. 7, 044403 (2023)]. We corroborated that dislocations in B2 FeCo exist in pairs separated by antiphase boundaries. The equilibrium separation is about 50 A, which demands large-scale atomistic simulations - inaccessible for density functional theory but attainable with BOP. We performed atomistic simulations of these separated dislocations with BOP and predicted that they reside in degenerate core structures. Also, dislocations induce changes in the local electronic structure and magnetic moments.

Reliable deployment of Unmanned Aerial Vehicles (UAVs) in cluttered unknown environments requires accurate sensors for Global Navigation Satellite System (GNSS)-denied localization and obstacle avoidance. Such a requirement limits the usage of cheap and micro-scale vehicles with constrained payload capacity if industrial-grade reliability and precision are required. This paper investigates the possibility of offloading the necessity to carry heavy sensors to another member of the UAV team while preserving the desired capability of the smaller robot intended for exploring narrow passages. A novel cooperative guidance framework offloading the sensing requirements from a minimalistic secondary UAV to a superior primary UAV is proposed. The primary UAV constructs a dense occupancy map of the environment and plans collision-free paths for both UAVs to ensure reaching the desired secondary UAV's goals even in areas not accessible by the bigger robot. The primary UAV guides the secondary UAV to follow the planned path while tracking the UAV using Light Detection and Ranging (LiDAR)-based relative localization. The proposed approach was verified in real-world experiments with a heterogeneous team of a 3D LiDAR-equipped primary UAV and a micro-scale camera-equipped secondary UAV moving autonomously through unknown cluttered GNSS-denied environments with the proposed framework running fully on board the UAVs., Comment: 8 pages, submitted to IROS 2024

Machine learning has proven to be a useful tool for automated malware detection, but machine learning models have also been shown to be vulnerable to adversarial attacks. This article addresses the problem of generating adversarial malware samples, specifically malicious Windows Portable Executable files. We summarize and compare work that has focused on adversarial machine learning for malware detection. We use gradient-based, evolutionary algorithm-based, and reinforcement-based methods to generate adversarial samples, and then test the generated samples against selected antivirus products. We compare the selected methods in terms of accuracy and practical applicability. The results show that applying optimized modifications to previously detected malware can lead to incorrect classification of the file as benign. It is also known that generated malware samples can be successfully used against detection models other than those used to generate them and that using combinations of generators can create new samples that evade detection. Experiments show that the Gym-malware generator, which uses a reinforcement learning approach, has the greatest practical potential. This generator achieved an average sample generation time of 5.73 seconds and the highest average evasion rate of 44.11%. Using the Gym-malware generator in combination with itself improved the evasion rate to 58.35%.

A novel relative localization approach for guidance of a micro-scale UAV by a well-equipped aerial robot fusing VIO with LiDAR is proposed in this paper. LiDAR-based localization is accurate and robust to challenging environmental conditions, but 3D LiDARs are relatively heavy and require large UAV platforms, in contrast to lightweight cameras. However, visual-based self-localization methods exhibit lower accuracy and can suffer from significant drift with respect to the global reference frame. To benefit from both sensory modalities, we focus on cooperative navigation in a heterogeneous team of a primary LiDAR-equipped UAV and a secondary micro-scale camera-equipped UAV. We propose a novel cooperative approach combining LiDAR relative localization data with VIO output on board the primary UAV to obtain an accurate pose of the secondary UAV. The pose estimate is used to precisely and reliably guide the secondary UAV along trajectories defined in the primary UAV reference frame. The experimental evaluation has shown the superior accuracy of our method to the raw VIO output and demonstrated its capability to guide the secondary UAV along desired trajectories while mitigating VIO drift. Thus, such a heterogeneous system can explore large areas with LiDAR precision, as well as visit locations inaccessible to the large LiDAR-carrying UAV platforms, as was showcased in a real-world cooperative mapping scenario., Comment: pre-print submitted to Journal of Intelligent and Robotic Systems

Machine learning is becoming increasingly popular as a go-to approach for many tasks due to its world-class results. As a result, antivirus developers are incorporating machine learning models into their products. While these models improve malware detection capabilities, they also carry the disadvantage of being susceptible to adversarial attacks. Although this vulnerability has been demonstrated for many models in white-box settings, a black-box attack is more applicable in practice for the domain of malware detection. We present a generator of adversarial malware examples using reinforcement learning algorithms. The reinforcement learning agents utilize a set of functionality-preserving modifications, thus creating valid adversarial examples. Using the proximal policy optimization (PPO) algorithm, we achieved an evasion rate of 53.84% against the gradient-boosted decision tree (GBDT) model. The PPO agent previously trained against the GBDT classifier scored an evasion rate of 11.41% against the neural network-based classifier MalConv and an average evasion rate of 2.31% against top antivirus programs. Furthermore, we discovered that random application of our functionality-preserving portable executable modifications successfully evades leading antivirus engines, with an average evasion rate of 11.65%. These findings indicate that machine learning-based models used in malware detection systems are vulnerable to adversarial attacks and that better safeguards need to be taken to protect these systems., Comment: 19 pages, 4 figures

This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with respect to changes in actuators, frames, and sensory configuration. As the name suggests, the platform is specially tailored for deployment within a MRS group. The MRS Drone contributes to the state-of-the-art of UAV platforms by allowing smooth real-world deployment of multiple aerial robots, as well as by outperforming other platforms with its modularity. For real-world multi-robot deployment in various applications, the platform is easy to both assemble and modify. Moreover, it is accompanied by a realistic simulator to enable safe pre-flight testing and a smooth transition to complex real-world experiments. In this manuscript, we present mechanical and electrical designs, software architecture, and technical specifications to build a fully autonomous multi UAV system. Finally, we demonstrate the full capabilities and the unique modularity of the MRS Drone in various real-world applications that required a diverse range of platform configurations., Comment: 49 pages, 39 figures, accepted for publication to the Journal of Intelligent & Robotic Systems

The Atomic Cluster Expansion (ACE) provides a formally complete basis for the local atomic environment. ACE is not limited to representing energies as a function of atomic positions and chemical species, but can be generalized to vectorial or tensorial properties and to incorporate further degrees of freedom (DOF). This is crucial for magnetic materials with potential energy surfaces that depend on atomic positions and atomic magnetic moments simultaneously. In this work, we employ the ACE formalism to develop a non-collinear magnetic ACE parametrization for the prototypical magnetic element Fe. The model is trained on a broad range of collinear and non-collinear magnetic structures calculated using spin density functional theory. We demonstrate that the non-collinear magnetic ACE is able to reproduce not only ground state properties of various magnetic phases of Fe but also the magnetic and lattice excitations that are essential for a correct description of the finite temperature behavior and properties of crystal defects., Comment: 19 pages, 20 figures, 2 tables

We present a general-purpose parameterization of the atomic cluster expansion (ACE) for magnesium. The ACE shows outstanding transferability over a broad range of atomic environments and captures physical properties of bulk as well as defective Mg phases in excellent agreement with reference first-principles calculations. We demonstrate the computational efficiency and the predictive power of ACE by calculating properties of extended defects and by evaluating the P-T phase diagram covering temperatures up to 3000 K and pressures up to 80 GPa. We compare the ACE predictions with those of other interatomic potentials, including the embedded-atom method, an angular-dependent potential, and a recently developed neural network potential. The comparison reveals that ACE is the only model that is able to predict correctly the phase diagram in close agreement with experimental observations.

While trust in human-robot interaction is increasingly recognized as necessary for the implementation of social robots, our understanding of regulating trust in human-robot interaction is yet limited. In the current experiment, we evaluated different approaches to trust calibration in human-robot interaction. The within-subject experimental approach utilized five different strategies for trust calibration: proficiency, situation awareness, transparency, trust violation, and trust repair. We implemented these interventions into a within-subject experiment where participants (N=24) teamed up with a social robot and played a collaborative game. The level of trust was measured after each section using the Multi-Dimensional Measure of Trust (MDMT) scale. As expected, the interventions have a significant effect on i) violating and ii) repairing the level of trust throughout the interaction. Consequently, the robot demonstrating situation awareness was perceived as significantly more benevolent than the baseline.

Antivirus developers are increasingly embracing machine learning as a key component of malware defense. While machine learning achieves cutting-edge outcomes in many fields, it also has weaknesses that are exploited by several adversarial attack techniques. Many authors have presented both white-box and black-box generators of adversarial malware examples capable of bypassing malware detectors with varying success. We propose to combine contemporary generators in order to increase their potential. Combining different generators can create more sophisticated adversarial examples that are more likely to evade anti-malware tools. We demonstrated this technique on five well-known generators and recorded promising results. The best-performing combination of AMG-random and MAB-Malware generators achieved an average evasion rate of 15.9% against top-tier antivirus products. This represents an average improvement of more than 36% and 627% over using only the AMG-random and MAB-Malware generators, respectively. The generator that benefited the most from having another generator follow its procedure was the FGSM injection attack, which improved the evasion rate on average between 91.97% and 1,304.73%, depending on the second generator used. These results demonstrate that combining different generators can significantly improve their effectiveness against leading antivirus programs., Comment: 9 pages, 5 figures, 2 tables. Under review

We report on the optical properties of CsPbBr3 polycrystalline thin film on a single grain level. A sample comprised of isolated nanocrystals (NCs) mimicking the properties of the polycrystalline thin film grains that can be individually probed by photoluminescence spectroscopy was prepared. These NCs were analyzed using correlative microscopy allowing the examination of structural, chemical, and optical properties from identical sites. Our results show that the stoichiometry of the CsPbBr3 NCs is uniform and independent of the NCs' morphology. The photoluminescence (PL) peak emission wavelength is slightly dependent on the dimensions of NCs, with the blue shift up to 9 nm for the smallest analyzed NCs. The magnitude of the blueshift is smaller than the emission linewidth, thus detectable only by high-resolution PL mapping. By comparing the emission wavelengths obtained from the experiment and a rigorous effective mass model we can fully attribute the observed variations to the size-dependent quantum confinement effect., Comment: 25 pages, 3 figures

A technique that allows a formation-enforcing control (FEC) derived from graph rigidity theory to interface with a realistic relative localization system onboard lightweight Unmanned Aerial Vehicles (UAVs) is proposed in this paper. The proposed methodology enables reliable real-world deployment of UAVs in tight formation using real relative localization systems burdened by non-negligible sensory noise, which is typically not fully taken into account in FEC algorithms. The proposed solution is based on decomposition of the gradient descent-based FEC command into interpretable elements, and then modifying these individually based on the estimated distribution of sensory noise, such that the resulting action limits the probability of overshooting the desired formation. The behavior of the system has been analyzed and the practicality of the proposed solution has been compared to pure gradient-descent in real-world experiments where it presented significantly better performance in terms of oscillations, deviation from the desired state and convergence time., Comment: Submitted to IEEE Transactions on Robotics journal on December 19. 2023

We find covariant canonical formalism for Weyl invariant gravity. We discuss constraint structure of this theory and its gauge fixed form., Comment: 19 pages

Insight into structural and thermodynamic properties of nanoparticles is crucial for designing optimal catalysts with enhanced activity and stability. We present a semi-automated workflow for parameterizing the atomic cluster expansion (ACE) from ab initio data. The main steps of the workflow are the generation of training data from accurate electronic structure calculations, an efficient fitting procedure supported by active learning and uncertainty indication, and a thorough validation. We apply the workflow to the simulation of binary Pt-Rh nanoparticles that are important for catalytic applications. We demonstrate that the Pt-Rh ACE is able to reproduce accurately a broad range of fundamental properties of the elemental metals as well as their compounds while retaining an outstanding computational efficiency. This enables a direct comparison of simulations to high resolution experiments.

A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use onboard an autonomous aerial vehicle equipped with a 3D LiDAR sensor providing input data for the algorithm. It relies on a novel 3D occupancy voxel mapping method for the target detection and a cluster-based multiple hypothesis tracker to compensate uncertainty of the sensory data. When compared to state-of-the-art methods of onboard detection of other flying objects, the presented approach provides superior localization accuracy and robustness to different environments and appearance changes of the target, as well as a greater detection range. Furthermore, in combination with the proposed multi-target tracker, sporadic false positives are suppressed, state estimation of the target is provided and the detection latency is negligible. This makes the detector suitable for tasks of agile multi-robot interaction, such as autonomous aerial interception or formation control where precise, robust, and fast relative localization of other robots is crucial. We demonstrate the practical usability and performance of the system in simulated and real-world experiments., Comment: 15 pages, 13 figures

This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor configurations, and even UAV frames. This allows to achieve, with minimal effort, a proper experimental setup for single, as well as, multi robot scenarios. Presented platforms are intended to facilitate the transition from simulations, and simplified laboratory experiments, into the deployment of aerial robots into uncertain and hard-to-model real-world conditions. We present mechanical designs, electric configurations, and dynamic models of the UAVs, followed by numerous recommendations and technical details required for building such a fully autonomous UAV system for experimental verification of scientific achievements. To show strength and high variability of the proposed system, we present results of tens of completely different real-robot experiments in various environments using distinct actuator and sensory configurations., Comment: 10 pages, 17 figures, conference

In this short note we study unimodular gravity in Weyl-De Donder formalism. We find corresponding Hamiltonian and study consequence of the unimodular constraint on the conjugate covariant momenta. We also find covariant Hamiltonian for Henneaux-Teitelboim unimodular action and study corresponding equations of motion., Comment: 19 pages

The atomic cluster expansion (ACE) was proposed recently as a new class of data-driven interatomic potentials with a formally complete basis set. Since the development of any interatomic potential requires a careful selection of training data and thorough validation, an automation of the construction of the training dataset as well as an indication of a model's uncertainty are highly desirable. In this work, we compare the performance of two approaches for uncertainty indication of ACE models based on the D-optimality criterion and ensemble learning. While both approaches show comparable predictions, the extrapolation grade based on the D-optimality (MaxVol algorithm) is more computationally efficient. In addition, the extrapolation grade indicator enables an active exploration of new structures, opening the way to the automated discovery of rare-event configurations. We demonstrate that active learning is also applicable to explore local atomic environments from large-scale MD simulations.

We develop a thermodynamically consistent chemo-thermo-mechanical model for the $\beta\rightarrow\delta$ phase transition of energetic HMX crystals. In contrast to previous models, which either considered specific heat to be a constant or utilized a calibrated function, this model provides novel expressions for the specific heats at constant volume and constant elastic strains derived directly from continuum mechanics. In addition, the model provides a novel prediction for the critical temperature at which the chemical heating rate achieves its extremum for Arrhenius kinetics. The numerical solution predicts highly nonlinear specific heat behavior including order of magnitude changes.

This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide the vehicles. Compared to the existing literature, the algorithm includes both inter-vehicle and obstacle collision avoidance, and employs a scheme that keeps the vehicles within given operation limits. The algorithm is applied to a six degree-of-freedom model, using rotation matrices to describe the attitude to avoid singularities. Using the results of cascaded systems theory, we prove that the closed-loop system is uniformly semiglobally exponentially stable. We use numerical simulations to validate the results., Comment: Extended version of a paper, to appear in Proc. 2023 IFAC World Congress, 13 pages (9p + 4p appendices), 5 figures

We present an atomic cluster expansion (ACE) for carbon that improves over available classical and machine learning potentials. The ACE is parameterized from an exhaustive set of important carbon structures at extended volume and energy range, computed using density functional theory (DFT). Rigorous validation reveals that ACE predicts accurately a broad range of properties of both crystalline and amorphous carbon phases while being several orders of magnitude more computationally efficient than available machine learning models. We demonstrate the predictive power of ACE on three distinct applications, brittle crack propagation in diamond, evolution of amorphous carbon structures at different densities and quench rates and nucleation and growth of fullerene clusters under high pressure and temperature conditions.

This paper is devoted to the analysis of the covariant canonical formalism of $F(R)$ gravity in Einstein frame. We also find canonical transformation between covariant canonical formulation of F(R) gravity in Jordan frame and Einstein frames and we also determine corresponding generating function., Comment: 17 pages, reference added

Multiscale and multiphysics problems need novel numerical methods in order for them to be solved correctly and predictively. To that end, we develop a wavelet based technique to solve a coupled system of nonlinear partial differential equations (PDEs) while resolving features on a wide range of spatial and temporal scales. The algorithm exploits the multiresolution nature of wavelet basis functions to solve initial-boundary value problems on finite domains with a sparse multiresolution spatial discretization. By leveraging wavelet theory and embedding a predictor-corrector procedure within the time advancement loop, we dynamically adapt the computational grid and maintain accuracy of the solutions of the PDEs as they evolve. Consequently, our method provides high fidelity simulations with significant data compression. We present verification of the algorithm and demonstrate its capabilities by modeling high-strain rate damage nucleation and propagation in nonlinear solids using a novel Eulerian-Lagrangian continuum framework.

We study the planning and acting phase for the problem of multi-agent path finding (MAPF) in this paper. MAPF is a problem of navigating agents from their start positions to specified individual goal positions so that agents do not collide with each other. Specifically we focus on executing MAPF plans with a group of Crazyflies, small indoor quadcopters . We show how to modify the existing continuous time conflict-based search algorithm (CCBS) to produce plans that are suitable for execution with the quadcopters. The acting phase uses the the Loco positioning system to check if the plan is executed correctly. Our finding is that the CCBS algorithm allows for extensions that can produce safe plans for quadcopters, namely cylindrical protection zone around each quadcopter can be introduced at the planning level.

This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part of the team CTU-CRAS-NORLAB. In contrast to the winning solution that was developed specifically for the Virtual Track, the proposed solution also proved to be a robust system for deployment onboard physical UAVs flying in the extremely harsh and confined environment of the real-world competition. The proposed approach enables fully autonomous and decentralized deployment of a UAV team with seamless simulation-to-world transfer, and proves its advantage over less mobile UGV teams in the flyable space of diverse environments. The main contributions of the paper are present in the mapping and navigation pipelines. The mapping approach employs novel map representations -- SphereMap for efficient risk-aware long-distance planning, FacetMap for surface coverage, and the compressed topological-volumetric LTVMap for allowing multi-robot cooperation under low-bandwidth communication. These representations are used in navigation together with novel methods for visibility-constrained informed search in a general 3D environment with no assumptions about the environment structure, while balancing deep exploration with sensor-coverage exploitation. The proposed solution also includes a visual-perception pipeline for on-board detection and localization of objects of interest in four RGB stream at 5 Hz each without a dedicated GPU. Apart from participation in the DARPA SubT, the performance of the UAV system is supported by extensive experimental verification in diverse environments with both qualitative and quantitative evaluation., Comment: Submitted to Field Robotics Special Issue: DARPA Subterranean Challenge, Advancement and Lessons Learned from the Finals

SiC polytypes have been studied for decades, both experimentally and with atomistic simulations, yet no consensus has been reached on the factors that determine their stability and growth. Proposed governing factors are temperature-dependent differences in the bulk energy, biaxial strain induced through point defects, and surface properties. In this work, we investigate the thermodynamic stability of the 3C, 2H, 4H, and 6H polytypes with density functional theory (DFT) calculations. The small differences of the bulk energies between the polytypes can lead to intricate changes in their energetic ordering depending on the computational method. Therefore, we employ and compare various DFT-codes: VASP, CP2K, and FHI-aims; exchange-correlation functionals: LDA, PBE, PBEsol, PW91, HSE06, SCAN, and RTPSS; and nine different van der Waals (vdW) corrections. At $T=0$~K, 4H-SiC is marginally more stable than 3C-SiC, and the stability further increases with temperature by including entropic effects from lattice vibrations. Neither the most advanced vdW corrections nor strain on the lattice have a significant effect on the relative polytype stability. We further investigate the energies of the (0001) polytype surfaces that are commonly exposed during epitaxial growth. For Si-terminated surfaces, we find 3C-SiC to be significantly more stable than 4H-SiC. We conclude that the difference in surface energy is likely the driving force for 3C-nucleation, whereas the difference in the bulk thermodynamic stability slightly favors the 4H and 6H polytypes. In order to describe the polytype stability during crystal growth correctly, it is thus crucial to take into account both of these effects., Comment: 14 pages, 12 figures

Covariant Hamiltonian formulation of $F(R)$ gravity is used to find variation of surface Hamiltonian which leads to formulation of temperature and entropy of a horizon. These thermodynamic quantities are then used to establish an analogy between Einstein equation and Clausius equation. The obtained results are compared to those from classical General Relativity., Comment: 11 pages

This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow curved paths while maintaining the desired formation. We investigate the dynamics of the path-following error using cascaded systems theory, and show that the closed-loop system is uniformly semi-globally exponentially stable. We validate the theoretical results through numerical simulations., Comment: Extended version, accepted to the 20th European Control Conference, July 12-15 2022, London, UK, 16 pages, 4 figures