Consensus theories: an oriented survey

This article surveys seven directions of consensus theories: Arrowian results, federation consensus rules, metric consensus rules, tournament solutions, restricted domains, abstract consensus theories, algorithmic and complexity issues. This survey is oriented in the sense that it is mainly – but not exclusively – concentrated on the most significant results obtained, sometimes with other searchers, by a team of French searchers who are or were full or associate members of the Centre d'Analyse et de Mathématique Sociale (CAMS).Consensus theories ; Arrowian results ; aggregation rules ; metric consensus rules ; median ; tournament solutions ; restricted domains ; lower valuations ; median semilattice ; complexity

Contextual Information Retrieval based on Algorithmic Information Theory and Statistical Outlier Detection

The main contribution of this paper is to design an Information Retrieval (IR) technique based on Algorithmic Information Theory (using the Normalized Compression Distance- NCD), statistical techniques (outliers), and novel organization of data base structure. The paper shows how they can be integrated to retrieve information from generic databases using long (text-based) queries. Two important problems are analyzed in the paper. On the one hand, how to detect "false positives" when the distance among the documents is very low and there is actual similarity. On the other hand, we propose a way to structure a document database which similarities distance estimation depends on the length of the selected text. Finally, the experimental evaluations that have been carried out to study previous problems are shown.Comment: Submitted to 2008 IEEE Information Theory Workshop (6 pages, 6 figures

Batch Informed Trees (BIT*): Informed Asymptotically Optimal Anytime Search

Path planning in robotics often requires finding high-quality solutions to continuously valued and/or high-dimensional problems. These problems are challenging and most planning algorithms instead solve simplified approximations. Popular approximations include graphs and random samples, as respectively used by informed graph-based searches and anytime sampling-based planners. Informed graph-based searches, such as A*, traditionally use heuristics to search a priori graphs in order of potential solution quality. This makes their search efficient but leaves their performance dependent on the chosen approximation. If its resolution is too low then they may not find a (suitable) solution but if it is too high then they may take a prohibitively long time to do so. Anytime sampling-based planners, such as RRT*, traditionally use random sampling to approximate the problem domain incrementally. This allows them to increase resolution until a suitable solution is found but makes their search dependent on the order of approximation. Arbitrary sequences of random samples approximate the problem domain in every direction simultaneously and but may be prohibitively inefficient at containing a solution. This paper unifies and extends these two approaches to develop Batch Informed Trees (BIT*), an informed, anytime sampling-based planner. BIT* solves continuous path planning problems efficiently by using sampling and heuristics to alternately approximate and search the problem domain. Its search is ordered by potential solution quality, as in A*, and its approximation improves indefinitely with additional computational time, as in RRT*. It is shown analytically to be almost-surely asymptotically optimal and experimentally to outperform existing sampling-based planners, especially on high-dimensional planning problems.Comment: International Journal of Robotics Research (IJRR). 32 Pages. 16 Figure