Fast Hierarchical Clustering and Other Applications of Dynamic Closest Pairs

We develop data structures for dynamic closest pair problems with arbitrary distance functions, that do not necessarily come from any geometric structure on the objects. Based on a technique previously used by the author for Euclidean closest pairs, we show how to insert and delete objects from an n-object set, maintaining the closest pair, in O(n log^2 n) time per update and O(n) space. With quadratic space, we can instead use a quadtree-like structure to achieve an optimal time bound, O(n) per update. We apply these data structures to hierarchical clustering, greedy matching, and TSP heuristics, and discuss other potential applications in machine learning, Groebner bases, and local improvement algorithms for partition and placement problems. Experiments show our new methods to be faster in practice than previously used heuristics.Comment: 20 pages, 9 figures. A preliminary version of this paper appeared at the 9th ACM-SIAM Symp. on Discrete Algorithms, San Francisco, 1998, pp. 619-628. For source code and experimental results, see http://www.ics.uci.edu/~eppstein/projects/pairs

Intermittent predictive control of an inverted pendulum

Intermittent predictive pole-placement control is successfully applied to the constrained-state control of a prestabilised experimental inverted pendulum

Frequency-Aware Model Predictive Control

Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on the real system. Model errors can be a result of model simplifications, but also naturally arise when deploying the robot in unstructured and nondeterministic environments. Predominantly, compliant contacts and actuator dynamics lead to bandwidth limitations. While classical control methods provide tools to synthesize controllers that are robust to a class of model errors, such a notion is missing in modern trajectory optimization, which is solved in the time domain. We propose frequency-shaped cost functions to achieve robust solutions in the context of optimal control for legged robots. Through simulation and hardware experiments we show that motion plans can be made compatible with bandwidth limits set by actuators and contact dynamics. The smoothness of the model predictive solutions can be continuously tuned without compromising the feasibility of the problem. Experiments with the quadrupedal robot ANYmal, which is driven by highly-compliant series elastic actuators, showed significantly improved tracking performance of the planned motion, torque, and force trajectories and enabled the machine to walk robustly on terrain with unmodeled compliance

A Literature Survey of Cooperative Caching in Content Distribution Networks

Content distribution networks (CDNs) which serve to deliver web objects (e.g., documents, applications, music and video, etc.) have seen tremendous growth since its emergence. To minimize the retrieving delay experienced by a user with a request for a web object, caching strategies are often applied - contents are replicated at edges of the network which is closer to the user such that the network distance between the user and the object is reduced. In this literature survey, evolution of caching is studied. A recent research paper [15] in the field of large-scale caching for CDN was chosen to be the anchor paper which serves as a guide to the topic. Research studies after and relevant to the anchor paper are also analyzed to better evaluate the statements and results of the anchor paper and more importantly, to obtain an unbiased view of the large scale collaborate caching systems as a whole.Comment: 5 pages, 5 figure