69,553 research outputs found
Accurate and Efficient Expression Evaluation and Linear Algebra
We survey and unify recent results on the existence of accurate algorithms
for evaluating multivariate polynomials, and more generally for accurate
numerical linear algebra with structured matrices. By "accurate" we mean that
the computed answer has relative error less than 1, i.e., has some correct
leading digits. We also address efficiency, by which we mean algorithms that
run in polynomial time in the size of the input. Our results will depend
strongly on the model of arithmetic: Most of our results will use the so-called
Traditional Model (TM). We give a set of necessary and sufficient conditions to
decide whether a high accuracy algorithm exists in the TM, and describe
progress toward a decision procedure that will take any problem and provide
either a high accuracy algorithm or a proof that none exists. When no accurate
algorithm exists in the TM, it is natural to extend the set of available
accurate operations by a library of additional operations, such as , dot
products, or indeed any enumerable set which could then be used to build
further accurate algorithms. We show how our accurate algorithms and decision
procedure for finding them extend to this case. Finally, we address other
models of arithmetic, and the relationship between (im)possibility in the TM
and (in)efficient algorithms operating on numbers represented as bit strings.Comment: 49 pages, 6 figures, 1 tabl
P versus NP and geometry
I describe three geometric approaches to resolving variants of P v. NP,
present several results that illustrate the role of group actions in complexity
theory, and make a first step towards completely geometric definitions of
complexity classes.Comment: 20 pages, to appear in special issue of J. Symbolic. Comp. dedicated
to MEGA 200
Attention and Anticipation in Fast Visual-Inertial Navigation
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to
estimate its state using an on-board camera and an inertial sensor, without any
prior knowledge of the external environment. We consider the case in which the
robot can allocate limited resources to VIN, due to tight computational
constraints. Therefore, we answer the following question: under limited
resources, what are the most relevant visual cues to maximize the performance
of visual-inertial navigation? Our approach has four key ingredients. First, it
is task-driven, in that the selection of the visual cues is guided by a metric
quantifying the VIN performance. Second, it exploits the notion of
anticipation, since it uses a simplified model for forward-simulation of robot
dynamics, predicting the utility of a set of visual cues over a future time
horizon. Third, it is efficient and easy to implement, since it leads to a
greedy algorithm for the selection of the most relevant visual cues. Fourth, it
provides formal performance guarantees: we leverage submodularity to prove that
the greedy selection cannot be far from the optimal (combinatorial) selection.
Simulations and real experiments on agile drones show that our approach ensures
state-of-the-art VIN performance while maintaining a lean processing time. In
the easy scenarios, our approach outperforms appearance-based feature selection
in terms of localization errors. In the most challenging scenarios, it enables
accurate visual-inertial navigation while appearance-based feature selection
fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table
Multi-bosonic algorithms for dynamical fermion simulations
Multi-bosonic fermion simulation algorithms are reviewed, with particular
emphasis on a recent application in SU(2) Yang-Mills theory with light gluinos.Comment: latex, 14 pages; talk given at the workshop "Molecular Dynamics on
Parallel Computers", February 1999, NIC, J\"ulic
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