CDDT: Fast Approximate 2D Ray Casting for Accelerated Localization

Localization is an essential component for autonomous robots. A well-established localization approach combines ray casting with a particle filter, leading to a computationally expensive algorithm that is difficult to run on resource-constrained mobile robots. We present a novel data structure called the Compressed Directional Distance Transform for accelerating ray casting in two dimensional occupancy grid maps. Our approach allows online map updates, and near constant time ray casting performance for a fixed size map, in contrast with other methods which exhibit poor worst case performance. Our experimental results show that the proposed algorithm approximates the performance characteristics of reading from a three dimensional lookup table of ray cast solutions while requiring two orders of magnitude less memory and precomputation. This results in a particle filter algorithm which can maintain 2500 particles with 61 ray casts per particle at 40Hz, using a single CPU thread onboard a mobile robot.Comment: 8 pages, 14 figures, ICRA versio

Computationally-intensive Econometrics using a Distributed Matrix-programming Language

This paper reviews the need for powerful facilities in econometrics, focusing on concrete problems which arise in financial economics and in macroeconomics. We argue that the profession is being held back by the lack of easy to use generic software which is able to exploit the availability of cheap clusters of distributed computers. Our response is to extend, in a number of directions, the well known matrix-programming interpreted language Ox developed by the first author. We note three possible levels of extensions: (i) Ox with parallelization explicit in the Ox code; (ii) Ox with a parallelized run-time library; (iii) Ox with a parallelized interpreter. This paper studies and implements the first case, emphasizing the need for deterministic computing in science. We give examples in the context of financial economics and time-series modelling.Distributed computing; Econometrics; High-performance computing; Matrix-programming language

Freezing and large time scales induced by geometrical frustration

We investigate the properties of an effective Hamiltonian with competing interactions involving spin and chirality variables, relevant for the description of the {\it trimerized} version of the spin-1/2 {\it kagome} antiferromagnet. Using classical Monte Carlo simulations, we show that remarkable behaviors develop at very low temperatures. Through an {\it order by disorder} mechanism, the low-energy states are characterized by a dynamical freezing of the chiralities, which decouples the lattice into ``dimers'' and ``triangles'' of antiferromagnetically coupled spins. Under the presence of an external magnetic field, the particular topology of the chiralities induces a very slow spin dynamics, reminiscent of what happens in ordinary spin glasses.Comment: 12 pages, 13 figure

Flexible protein folding by ant colony optimization

Protein structure prediction is one of the most challenging topics in bioinformatics. As the protein structure is found to be closely related to its functions, predicting the folding structure of a protein to judge its functions is meaningful to the humanity. This chapter proposes a flexible ant colony (FAC) algorithm for solving protein folding problems (PFPs) based on the hydrophobic-polar (HP) square lattice model. Different from the previous ant algorithms for PFPs, the pheromones in the proposed algorithm are placed on the arcs connecting adjacent squares in the lattice. Such pheromone placement model is similar to the one used in the traveling salesmen problems (TSPs), where pheromones are released on the arcs connecting the cities. Moreover, the collaboration of effective heuristic and pheromone strategies greatly enhances the performance of the algorithm so that the algorithm can achieve good results without local search methods. By testing some benchmark two-dimensional hydrophobic-polar (2D-HP) protein sequences, the performance shows that the proposed algorithm is quite competitive compared with some other well-known methods for solving the same protein folding problems