A Quality and Cost Approach for Comparison of Small-World Networks

We propose an approach based on analysis of cost-quality tradeoffs for comparison of efficiency of various algorithms for small-world network construction. A number of both known in the literature and original algorithms for complex small-world networks construction are shortly reviewed and compared. The networks constructed on the basis of these algorithms have basic structure of 1D regular lattice with additional shortcuts providing the small-world properties. It is shown that networks proposed in this work have the best cost-quality ratio in the considered class.Comment: 27 pages, 16 figures, 1 tabl

Optimal byzantine resilient convergence in oblivious robot networks

Given a set of robots with arbitrary initial location and no agreement on a global coordinate system, convergence requires that all robots asymptotically approach the exact same, but unknown beforehand, location. Robots are oblivious-- they do not recall the past computations -- and are allowed to move in a one-dimensional space. Additionally, robots cannot communicate directly, instead they obtain system related information only via visual sensors. We draw a connection between the convergence problem in robot networks, and the distributed \emph{approximate agreement} problem (that requires correct processes to decide, for some constant $\epsilon$, values distance $\epsilon$ apart and within the range of initial proposed values). Surprisingly, even though specifications are similar, the convergence implementation in robot networks requires specific assumptions about synchrony and Byzantine resilience. In more details, we prove necessary and sufficient conditions for the convergence of mobile robots despite a subset of them being Byzantine (i.e. they can exhibit arbitrary behavior). Additionally, we propose a deterministic convergence algorithm for robot networks and analyze its correctness and complexity in various synchrony settings. The proposed algorithm tolerates f Byzantine robots for (2f+1)-sized robot networks in fully synchronous networks, (3f+1)-sized in semi-synchronous networks. These bounds are optimal for the class of cautious algorithms, which guarantee that correct robots always move inside the range of positions of the correct robots

Deterministic Sampling and Range Counting in Geometric Data Streams

We present memory-efficient deterministic algorithms for constructing epsilon-nets and epsilon-approximations of streams of geometric data. Unlike probabilistic approaches, these deterministic samples provide guaranteed bounds on their approximation factors. We show how our deterministic samples can be used to answer approximate online iceberg geometric queries on data streams. We use these techniques to approximate several robust statistics of geometric data streams, including Tukey depth, simplicial depth, regression depth, the Thiel-Sen estimator, and the least median of squares. Our algorithms use only a polylogarithmic amount of memory, provided the desired approximation factors are inverse-polylogarithmic. We also include a lower bound for non-iceberg geometric queries.Comment: 12 pages, 1 figur

Moving Walkways, Escalators, and Elevators

We study a simple geometric model of transportation facility that consists of two points between which the travel speed is high. This elementary definition can model shuttle services, tunnels, bridges, teleportation devices, escalators or moving walkways. The travel time between a pair of points is defined as a time distance, in such a way that a customer uses the transportation facility only if it is helpful. We give algorithms for finding the optimal location of such a transportation facility, where optimality is defined with respect to the maximum travel time between two points in a given set.Comment: 16 pages. Presented at XII Encuentros de Geometria Computacional, Valladolid, Spai

Branch-and-lift algorithm for deterministic global optimization in nonlinear optimal control

This paper presents a branch-and-lift algorithm for solving optimal control problems with smooth nonlinear dynamics and potentially nonconvex objective and constraint functionals to guaranteed global optimality. This algorithm features a direct sequential method and builds upon a generic, spatial branch-and-bound algorithm. A new operation, called lifting, is introduced, which refines the control parameterization via a Gram-Schmidt orthogonalization process, while simultaneously eliminating control subregions that are either infeasible or that provably cannot contain any global optima. Conditions are given under which the image of the control parameterization error in the state space contracts exponentially as the parameterization order is increased, thereby making the lifting operation efficient. A computational technique based on ellipsoidal calculus is also developed that satisfies these conditions. The practical applicability of branch-and-lift is illustrated in a numerical example. © 2013 Springer Science+Business Media New York