6,503 research outputs found
Pattern Matching for sets of segments
In this paper we present algorithms for a number of problems in geometric
pattern matching where the input consist of a collections of segments in the
plane. Our work consists of two main parts. In the first, we address problems
and measures that relate to collections of orthogonal line segments in the
plane. Such collections arise naturally from problems in mapping buildings and
robot exploration.
We propose a new measure of segment similarity called a \emph{coverage
measure}, and present efficient algorithms for maximising this measure between
sets of axis-parallel segments under translations. Our algorithms run in time
O(n^3\polylog n) in the general case, and run in time O(n^2\polylog n) for
the case when all segments are horizontal. In addition, we show that when
restricted to translations that are only vertical, the Hausdorff distance
between two sets of horizontal segments can be computed in time roughly
O(n^{3/2}{\sl polylog}n). These algorithms form significant improvements over
the general algorithm of Chew et al. that takes time . In the
second part of this paper we address the problem of matching polygonal chains.
We study the well known \Frd, and present the first algorithm for computing the
\Frd under general translations. Our methods also yield algorithms for
computing a generalization of the \Fr distance, and we also present a simple
approximation algorithm for the \Frd that runs in time O(n^2\polylog n).Comment: To appear in the 12 ACM Symposium on Discrete Algorithms, Jan 200
Formal Verification of Neural Network Controlled Autonomous Systems
In this paper, we consider the problem of formally verifying the safety of an
autonomous robot equipped with a Neural Network (NN) controller that processes
LiDAR images to produce control actions. Given a workspace that is
characterized by a set of polytopic obstacles, our objective is to compute the
set of safe initial conditions such that a robot trajectory starting from these
initial conditions is guaranteed to avoid the obstacles. Our approach is to
construct a finite state abstraction of the system and use standard
reachability analysis over the finite state abstraction to compute the set of
the safe initial states. The first technical problem in computing the finite
state abstraction is to mathematically model the imaging function that maps the
robot position to the LiDAR image. To that end, we introduce the notion of
imaging-adapted sets as partitions of the workspace in which the imaging
function is guaranteed to be affine. We develop a polynomial-time algorithm to
partition the workspace into imaging-adapted sets along with computing the
corresponding affine imaging functions. Given this workspace partitioning, a
discrete-time linear dynamics of the robot, and a pre-trained NN controller
with Rectified Linear Unit (ReLU) nonlinearity, the second technical challenge
is to analyze the behavior of the neural network. To that end, we utilize a
Satisfiability Modulo Convex (SMC) encoding to enumerate all the possible
segments of different ReLUs. SMC solvers then use a Boolean satisfiability
solver and a convex programming solver and decompose the problem into smaller
subproblems. To accelerate this process, we develop a pre-processing algorithm
that could rapidly prune the space feasible ReLU segments. Finally, we
demonstrate the efficiency of the proposed algorithms using numerical
simulations with increasing complexity of the neural network controller
- …