Centroidal bases in graphs

We introduce the notion of a centroidal locating set of a graph $G$, that is, a set $L$ of vertices such that all vertices in $G$ are uniquely determined by their relative distances to the vertices of $L$. A centroidal locating set of $G$ of minimum size is called a centroidal basis, and its size is the centroidal dimension $CD(G)$. This notion, which is related to previous concepts, gives a new way of identifying the vertices of a graph. The centroidal dimension of a graph $G$ is lower- and upper-bounded by the metric dimension and twice the location-domination number of $G$, respectively. The latter two parameters are standard and well-studied notions in the field of graph identification. We show that for any graph $G$ with $n$ vertices and maximum degree at least~2, $(1+o(1))\frac{\ln n}{\ln\ln n}\leq CD(G) \leq n-1$. We discuss the tightness of these bounds and in particular, we characterize the set of graphs reaching the upper bound. We then show that for graphs in which every pair of vertices is connected via a bounded number of paths, $CD(G)=\Omega\left(\sqrt{|E(G)|}\right)$, the bound being tight for paths and cycles. We finally investigate the computational complexity of determining $CD(G)$ for an input graph $G$, showing that the problem is hard and cannot even be approximated efficiently up to a factor of $o(\log n)$. We also give an $O\left(\sqrt{n\ln n}\right)$-approximation algorithm

Centroidal localization game

One important problem in a network is to locate an (invisible) moving entity by using distance-detectors placed at strategical locations. For instance, the metric dimension of a graph $G$ is the minimum number $k$ of detectors placed in some vertices $\{v_1,\cdots,v_k\}$ such that the vector $(d_1,\cdots,d_k)$ of the distances $d(v_i,r)$ between the detectors and the entity's location $r$ allows to uniquely determine $r \in V(G)$. In a more realistic setting, instead of getting the exact distance information, given devices placed in $\{v_1,\cdots,v_k\}$, we get only relative distances between the entity's location $r$ and the devices (for every $1\leq i,j\leq k$, it is provided whether $d(v_i,r) >$, $<$, or $=$ to $d(v_j,r)$). The centroidal dimension of a graph $G$ is the minimum number of devices required to locate the entity in this setting. We consider the natural generalization of the latter problem, where vertices may be probed sequentially until the moving entity is located. At every turn, a set $\{v_1,\cdots,v_k\}$ of vertices is probed and then the relative distances between the vertices $v_i$ and the current location $r$ of the entity are given. If not located, the moving entity may move along one edge. Let $\zeta^* (G)$ be the minimum $k$ such that the entity is eventually located, whatever it does, in the graph $G$. We prove that $\zeta^* (T)\leq 2$ for every tree $T$ and give an upper bound on $\zeta^*(G\square H)$ in cartesian product of graphs $G$ and $H$. Our main result is that $\zeta^* (G)\leq 3$ for any outerplanar graph $G$. We then prove that $\zeta^* (G)$ is bounded by the pathwidth of $G$ plus 1 and that the optimization problem of determining $\zeta^* (G)$ is NP-hard in general graphs. Finally, we show that approximating (up to any constant distance) the entity's location in the Euclidean plane requires at most two vertices per turn

The three-dimensional beam theory: Finite element formulation based on curvature

article introduces a new finite element formulation of the three-dimensional `geometrically exact finite-strain beam theory'. The formulation employs the generalized virtual work principle with the pseudo-curvature vector as the only unknown function. The solution of the governing equations is obtained by using a combined Galerkin-collocation algorithm. The collocation ensures that the equilibrium and the constitutive internal force and moment vectors are equal at a set of chosen discrete points. In Newton's iteration special update procedures for the pseudo-curvature and rotational vectors have to be employed because of the non-linearity of the configuration space. The accuracy and the efficiency of the derived numerical algorithm are demonstrated by several examples. (C) 2003 Civil-Comp Ltd. and Elsevier Ltd. All rights reserved

A split finite element algorithm for the compressible Navier-Stokes equations

An accurate and efficient numerical solution algorithm is established for solution of the high Reynolds number limit of the Navier-Stokes equations governing the multidimensional flow of a compressible essentially inviscid fluid. Finite element interpolation theory is used within a dissipative formulation established using Galerkin criteria within the Method of Weighted Residuals. An implicit iterative solution algorithm is developed, employing tensor product bases within a fractional steps integration procedure, that significantly enhances solution economy concurrent with sharply reduced computer hardware demands. The algorithm is evaluated for resolution of steep field gradients and coarse grid accuracy using both linear and quadratic tensor product interpolation bases. Numerical solutions for linear and nonlinear, one, two and three dimensional examples confirm and extend the linearized theoretical analyses, and results are compared to competitive finite difference derived algorithms

Open-independent, Open-locating-dominating Sets

A distinguishing set for a graph G = (V, E) is a dominating set D, each vertex $v \in D$ being the location of some form of a locating device, from which one can detect and precisely identify any given "intruder" vertex in V(G). As with many applications of dominating sets, the set $D$ might be required to have a certain property for &lt;D&gt;, the subgraph induced by D (such as independence, paired, or connected). Recently the study of independent locating-dominating sets and independent identifying codes was initiated. Here we introduce the property of open-independence for open-locating-dominating sets

WOLF: A modular estimation framework for robotics based on factor graphs

© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This paper introduces WOLF, a C++ estimation framework based on factor graphs and targeted at mobile robotics. WOLF can be used beyond SLAM to handle self-calibration, model identification, or the observation of dynamic quantities other than localization. The architecture of WOLF allows for a modular yet tightly-coupled estimator. Modularity is enhanced via reusable plugins that are loaded at runtime depending on application setup. This setup is achieved conveniently through YAML files, allowing users to configure a wide range of applications without the need of writing or compiling code. Most procedures are coded as abstract algorithms in base classes with varying levels of specialization. Overall, all these assets allow for coherent processing and favor code re-usability and scalability. WOLF can be used with ROS, and is made publicly available and open to collaboration.Peer ReviewedPostprint (author's final draft

Volumes of solids swept tangentially around cylinders

In earlier work ([1]-[5]) the authors used the method of sweeping tangents to calculate area and arclength related to certain planar regions. This paper extends the method to determine volumes of solids. Specifically, take a region S in the upper half of the xy plane and allow the plane to sweep tangentially around a general cylinder with the x axis lying on the cylinder. The solid swept by S is called a solid tangent sweep. Its solid tangent cluster is the solid swept by S when the cylinder shrinks to the x axis. Theorem 1: The volume of the solid tangent sweep does not depend on the profile of the cylinder, so it is equal to the volume of the solid tangent cluster. The proof uses Mamikon's sweeping-tangent theorem: The area of a tangent sweep to a plane curve is equal to the area of its tangent cluster, together with a classical slicing principle: Two solids have equal volumes if their horizontal cross sections taken at any height have equal areas. Interesting families of tangentially swept solids of equal volume are constructed by varying the cylinder. For most families in this paper the solid tangent cluster is a classical solid of revolution whose volume is equal to that of each member of the family. We treat forty different examples including familiar solids such as pseudosphere, ellipsoid, paraboloid, hyperboloid, persoids, catenoid, and cardioid and strophoid of revolution, all of whose volumes are obtained with the extended method of sweeping tangents. Part II treats sweeping around more general surfaces

Metric Dimension Parameterized by Feedback Vertex Set and Other Structural Parameters

For a graph $G$, a subset $S \subseteq V(G)$ is called a \emph{resolving set}if for any two vertices $u,v \in V(G)$, there exists a vertex $w \in S$ suchthat $d(w,u) \neq d(w,v)$. The {\sc Metric Dimension} problem takes as input agraph $G$ and a positive integer $k$, and asks whether there exists a resolvingset of size at most $k$. This problem was introduced in the 1970s and is knownto be NP-hard~[GT~61 in Garey and Johnson's book]. In the realm ofparameterized complexity, Hartung and Nichterlein~[CCC~2013] proved that theproblem is W[2]-hard when parameterized by the natural parameter $k$. They alsoobserved that it is FPT when parameterized by the vertex cover number and askedabout its complexity under \emph{smaller} parameters, in particular thefeedback vertex set number. We answer this question by proving that {\sc MetricDimension} is W[1]-hard when parameterized by the feedback vertex set number.This also improves the result of Bonnet and Purohit~[IPEC 2019] which statesthat the problem is W[1]-hard parameterized by the treewidth. Regarding theparameterization by the vertex cover number, we prove that {\sc MetricDimension} does not admit a polynomial kernel under this parameterizationunless $NP\subseteq coNP/poly$. We observe that a similar result holds when theparameter is the distance to clique. On the positive side, we show that {\scMetric Dimension} is FPT when parameterized by either the distance to clusteror the distance to co-cluster, both of which are smaller parameters than thevertex cover number.<br

Sequential Metric Dimension

International audienceIn the localization game, introduced by Seager in 2013, an invisible and immobile target is hidden at some vertex of a graph $G$. At every step, one vertex $v$ of $G$ can be probed which results in the knowledge of the distance between $v$ and the secret location of the target. The objective of the game is to minimize the number of steps needed to locate the target whatever be its location.We address the generalization of this game where $k\geq 1$ vertices can be probed at every step. Our game also generalizes the notion of the {\it metric dimension} of a graph.Precisely, given a graph $G$ and two integers $k,\ell \geq 1$, the {\sc Localization} problem asks whether there exists a strategy to locate a target hidden in $G$ in at most $\ell$ steps and probing at most $k$ vertices per step. We first show that, in general, this problem is \textsf{NP}-complete for every fixed $k \geq 1$ (resp., $\ell \geq 1$).We then focus on the class of trees.On the negative side,we prove that the \Localization problem is \textsf{NP}-complete in trees when $k$ and $\ell$ are part of the input. On the positive side, we design a $(+1)$-approximation algorithm for the problem in $n$-node trees, {\it i.e.}, an algorithm that computes in time $O(n \log n)$ (independent of $k$) a strategy to locate the target in at most one more step than an optimal strategy. This algorithm can be used to solve the \Localization problem in trees in polynomial time if $k$ is fixed.We also consider some of these questions in the context where, upon probing the vertices,the relative distances to the target are retrieved.This variant of the problem generalizes the notion of the {\it centroidal dimension} of a graph