Improved Incremental Randomized Delaunay Triangulation

We propose a new data structure to compute the Delaunay triangulation of a set of points in the plane. It combines good worst case complexity, fast behavior on real data, and small memory occupation. The location structure is organized into several levels. The lowest level just consists of the triangulation, then each level contains the triangulation of a small sample of the levels below. Point location is done by marching in a triangulation to determine the nearest neighbor of the query at that level, then the march restarts from that neighbor at the level below. Using a small sample (3%) allows a small memory occupation; the march and the use of the nearest neighbor to change levels quickly locate the query.Comment: 19 pages, 7 figures Proc. 14th Annu. ACM Sympos. Comput. Geom., 106--115, 199

PointMap: A real-time memory-based learning system with on-line and post-training pruning

Also published in the International Journal of Hybrid Intelligent Systems, Volume 1, January, 2004A memory-based learning system called PointMap is a simple and computationally efficient extension of Condensed Nearest Neighbor that allows the user to limit the number of exemplars stored during incremental learning. PointMap evaluates the information value of coding nodes during training, and uses this index to prune uninformative nodes either on-line or after training. These pruning methods allow the user to control both a priori code size and sensitivity to detail in the training data, as well as to determine the code size necessary for accurate performance on a given data set. Coding and pruning computations are local in space, with only the nearest coded neighbor available for comparison with the input; and in time, with only the current input available during coding. Pruning helps solve common problems of traditional memory-based learning systems: large memory requirements, their accompanying slow on-line computations, and sensitivity to noise. PointMap copes with the curse of dimensionality by considering multiple nearest neighbors during testing without increasing the complexity of the training process or the stored code. The performance of PointMap is compared to that of a group of sixteen nearest-neighbor systems on benchmark problems.This research was supported by grants from the Air Force Office of Scientific Research (AFOSR F49620-98-l-0108, F49620-0l-l-0397, and F49620-0l-l-0423) and the Office of Naval Research (ONR N00014-0l-l-0624)

Optimal Routing for the Gaussian Multiple-Relay Channel with Decode-and-Forward

In this paper, we study a routing problem on the Gaussian multiple relay channel, in which nodes employ a decode-and-forward coding strategy. We are interested in routes for the information flow through the relays that achieve the highest DF rate. We first construct an algorithm that provably finds optimal DF routes. As the algorithm runs in factorial time in the worst case, we propose a polynomial time heuristic algorithm that finds an optimal route with high probability. We demonstrate that that the optimal (and near optimal) DF routes are good in practice by simulating a distributed DF coding scheme using low density parity check codes with puncturing and incremental redundancy.Comment: Accepted and to be presented at the 2007 IEEE International Symposium on Information Theory (ISIT 2007), Acropolis Congress and Exhibition Center, Nice, France, June 24-29 200

Incremental learning of independent, overlapping, and graded concept descriptions with an instance-based process framework

Supervised learning algorithms make several simplifying assumptions concerning the characteristics of the concept descriptions to be learned. For example, concepts are often assumed to be (1) defined with respect to the same set of relevant attributes, (2) disjoint in instance space, and (3) have uniform instance distributions. While these assumptions constrain the learning task, they unfortunately limit an algorithm's applicability. We believe that supervised learning algorithms should learn attribute relevancies independently for each concept, allow instances to be members of any subset of concepts, and represent graded concept descriptions. This paper introduces a process framework for instance-based learning algorithms that exploit only specific instance and performance feedback information to guide their concept learning processes. We also introduce Bloom, a specific instantiation of this framework. Bloom is a supervised, incremental, instance-based learning algorithm that learns relative attribute relevancies independently for each concept, allows instances to be members of any subset of concepts, and represents graded concept memberships. We describe empirical evidence to support our claims that Bloom can learn independent, overlapping, and graded concept descriptions

Sampling-based Algorithms for Optimal Motion Planning

During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However, little effort has been devoted to the formal analysis of the quality of the solution returned by such algorithms, e.g., as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms as the number of samples increases. A number of negative results are provided, characterizing existing algorithms, e.g., showing that, under mild technical conditions, the cost of the solution returned by broadly used sampling-based algorithms converges almost surely to a non-optimal value. The main contribution of the paper is the introduction of new algorithms, namely, PRM* and RRT*, which are provably asymptotically optimal, i.e., such that the cost of the returned solution converges almost surely to the optimum. Moreover, it is shown that the computational complexity of the new algorithms is within a constant factor of that of their probabilistically complete (but not asymptotically optimal) counterparts. The analysis in this paper hinges on novel connections between stochastic sampling-based path planning algorithms and the theory of random geometric graphs.Comment: 76 pages, 26 figures, to appear in International Journal of Robotics Researc