Nonuniform random geometric graphs with location-dependent radii

We propose a distribution-free approach to the study of random geometric graphs. The distribution of vertices follows a Poisson point process with intensity function $nf(\cdot)$, where $n\in \mathbb{N}$, and $f$ is a probability density function on $\mathbb{R}^d$. A vertex located at $x$ connects via directed edges to other vertices that are within a cut-off distance $r_n(x)$. We prove strong law results for (i) the critical cut-off function so that almost surely, the graph does not contain any node with out-degree zero for sufficiently large $n$ and (ii) the maximum and minimum vertex degrees. We also provide a characterization of the cut-off function for which the number of nodes with out-degree zero converges in distribution to a Poisson random variable. We illustrate this result for a class of densities with compact support that have at most polynomial rates of decay to zero. Finally, we state a sufficient condition for an enhanced version of the above graph to be almost surely connected eventually.Comment: Published in at http://dx.doi.org/10.1214/11-AAP823 the Annals of Applied Probability (http://www.imstat.org/aap/) by the Institute of Mathematical Statistics (http://www.imstat.org

Spatial networks with wireless applications

Many networks have nodes located in physical space, with links more common between closely spaced pairs of nodes. For example, the nodes could be wireless devices and links communication channels in a wireless mesh network. We describe recent work involving such networks, considering effects due to the geometry (convex,non-convex, and fractal), node distribution, distance-dependent link probability, mobility, directivity and interference.Comment: Review article- an amended version with a new title from the origina

Shaping bursting by electrical coupling and noise

Gap-junctional coupling is an important way of communication between neurons and other excitable cells. Strong electrical coupling synchronizes activity across cell ensembles. Surprisingly, in the presence of noise synchronous oscillations generated by an electrically coupled network may differ qualitatively from the oscillations produced by uncoupled individual cells forming the network. A prominent example of such behavior is the synchronized bursting in islets of Langerhans formed by pancreatic \beta-cells, which in isolation are known to exhibit irregular spiking. At the heart of this intriguing phenomenon lies denoising, a remarkable ability of electrical coupling to diminish the effects of noise acting on individual cells. In this paper, we derive quantitative estimates characterizing denoising in electrically coupled networks of conductance-based models of square wave bursting cells. Our analysis reveals the interplay of the intrinsic properties of the individual cells and network topology and their respective contributions to this important effect. In particular, we show that networks on graphs with large algebraic connectivity or small total effective resistance are better equipped for implementing denoising. As a by-product of the analysis of denoising, we analytically estimate the rate with which trajectories converge to the synchronization subspace and the stability of the latter to random perturbations. These estimates reveal the role of the network topology in synchronization. The analysis is complemented by numerical simulations of electrically coupled conductance-based networks. Taken together, these results explain the mechanisms underlying synchronization and denoising in an important class of biological models

Pregeometric Concepts on Graphs and Cellular Networks as Possible Models of Space-Time at the Planck-Scale

Starting from the working hypothesis that both physics and the corresponding mathematics have to be described by means of discrete concepts on the Planck-scale, one of the many problems one has to face is to find the discrete protoforms of the building blocks of continuum physics and mathematics. In the following we embark on developing such concepts for irregular structures like (large) graphs or networks which are intended to emulate (some of) the generic properties of the presumed combinatorial substratum from which continuum physics is assumed to emerge as a coarse grained and secondary model theory. We briefly indicate how various concepts of discrete (functional) analysis and geometry can be naturally constructed within this framework, leaving a larger portion of the paper to the systematic developement of dimensional concepts and their properties, which may have a possible bearing on various branches of modern physics beyond quantum gravity.Comment: 16 pages, Invited paper to appear in the special issue of the Journal of Chaos, Solitons and Fractals on: "Superstrings, M, F, S ... Theory" (M.S. El Naschie, C. Castro, Editors

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