1,455 research outputs found
Surgery of spline-type and molecular frames
We prove a result about producing new frames for general spline-type spaces
by piecing together portions of known frames. Using spline-type spaces as
models for the range of certain integral transforms, we obtain results for
time-frequency decompositions and sampling.Comment: 34 pages. Corrected typo
Space Applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 4: Supplement, Appendix 4.3: Candidate ARAMIS Capabilities
Potential applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities, and to their related ground support functions, in the years 1985-2000, so that NASA may make informed decisions on which aspects of ARAMIS to develop. The study first identifies the specific tasks which will be required by future space projects. It then defines ARAMIS options which are candidates for those space project tasks, and evaluates the relative merits of these options. Finally, the study identifies promising applications of ARAMIS, and recommends specific areas for further research. The ARAMIS options defined and researched by the study group span the range from fully human to fully machine, including a number of intermediate options (e.g., humans assisted by computers, and various levels of teleoperation). By including this spectrum, the study searches for the optimum mix of humans and machines for space project tasks
Coordinated Robot Navigation via Hierarchical Clustering
We introduce the use of hierarchical clustering for relaxed, deterministic
coordination and control of multiple robots. Traditionally an unsupervised
learning method, hierarchical clustering offers a formalism for identifying and
representing spatially cohesive and segregated robot groups at different
resolutions by relating the continuous space of configurations to the
combinatorial space of trees. We formalize and exploit this relation,
developing computationally effective reactive algorithms for navigating through
the combinatorial space in concert with geometric realizations for a particular
choice of hierarchical clustering method. These constructions yield
computationally effective vector field planners for both hierarchically
invariant as well as transitional navigation in the configuration space. We
apply these methods to the centralized coordination and control of
perfectly sensed and actuated Euclidean spheres in a -dimensional ambient
space (for arbitrary and ). Given a desired configuration supporting a
desired hierarchy, we construct a hybrid controller which is quadratic in
and algebraic in and prove that its execution brings all but a measure zero
set of initial configurations to the desired goal with the guarantee of no
collisions along the way.Comment: 29 pages, 13 figures, 8 tables, extended version of a paper in
preparation for submission to a journa
Communication Efficient Self-Stabilizing Leader Election
This paper presents a randomized self-stabilizing algorithm that elects a leader r in a general n-node undirected graph and constructs a spanning tree T rooted at r. The algorithm works under the synchronous message passing network model, assuming that the nodes know a linear upper bound on n and that each edge has a unique ID known to both its endpoints (or, alternatively, assuming the KT? model). The highlight of this algorithm is its superior communication efficiency: It is guaranteed to send a total of O? (n) messages, each of constant size, till stabilization, while stabilizing in O? (n) rounds, in expectation and with high probability. After stabilization, the algorithm sends at most one constant size message per round while communicating only over the (n - 1) edges of T. In all these aspects, the communication overhead of the new algorithm is far smaller than that of the existing (mostly deterministic) self-stabilizing leader election algorithms.
The algorithm is relatively simple and relies mostly on known modules that are common in the fault free leader election literature; these modules are enhanced in various subtle ways in order to assemble them into a communication efficient self-stabilizing algorithm
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