Fast multipole networks

Two prerequisites for robotic multiagent systems are mobility and communication. Fast multipole networks (FMNs) enable both ends within a unified framework. FMNs can be organized very efficiently in a distributed way from local information and are ideally suited for motion planning using artificial potentials. We compare FMNs to conventional communication topologies, and find that FMNs offer competitive communication performance (including higher network efficiency per edge at marginal energy cost) in addition to advantages for mobility

Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation

Autonomous harvesting and transportation is a long-term goal of the forest industry. One of the main challenges is the accurate localization of both vehicles and trees in a forest. Forests are unstructured environments where it is difficult to find a group of significant landmarks for current fast feature-based place recognition algorithms. This paper proposes a novel approach where local observations are matched to a general tree map using the Delaunay triangularization as the representation format. Instead of point cloud based matching methods, we utilize a topology-based method. First, tree trunk positions are registered at a prior run done by a forest harvester. Second, the resulting map is Delaunay triangularized. Third, a local submap of the autonomous robot is registered, triangularized and matched using triangular similarity maximization to estimate the position of the robot. We test our method on a dataset accumulated from a forestry site at Lieksa, Finland. A total length of 2100\,m of harvester path was recorded by an industrial harvester with a 3D laser scanner and a geolocation unit fixed to the frame. Our experiments show a 12\,cm s.t.d. in the location accuracy and with real-time data processing for speeds not exceeding 0.5\,m/s. The accuracy and speed limit is realistic during forest operations

Lattice Quantum Gravity: Review and Recent Developments

We review the status of different approaches to lattice quantum gravity indicating the successes and problems of each. Recent developments within the dynamical triangulation formulation are then described. Plenary talk at LATTICE 95 July 11-15, Melbourne, Australia.Comment: 12 pages, 8 figure

Towards a Scalable Dynamic Spatial Database System

With the rise of GPS-enabled smartphones and other similar mobile devices, massive amounts of location data are available. However, no scalable solutions for soft real-time spatial queries on large sets of moving objects have yet emerged. In this paper we explore and measure the limits of actual algorithms and implementations regarding different application scenarios. And finally we propose a novel distributed architecture to solve the scalability issues.Comment: (2012

Adaptive, Anisotropic and Hierarchical cones of Discrete Convex functions

We address the discretization of optimization problems posed on the cone of convex functions, motivated in particular by the principal agent problem in economics, which models the impact of monopoly on product quality. Consider a two dimensional domain, sampled on a grid of N points. We show that the cone of restrictions to the grid of convex functions is in general characterized by N^2 linear inequalities; a direct computational use of this description therefore has a prohibitive complexity. We thus introduce a hierarchy of sub-cones of discrete convex functions, associated to stencils which can be adaptively, locally, and anisotropically refined. Numerical experiments optimize the accuracy/complexity tradeoff through the use of a-posteriori stencil refinement strategies.Comment: 35 pages, 11 figures. (Second version fixes a small bug in Lemma 3.2. Modifications are anecdotic.