A fixed-parameter tractable algorithm for combinatorial filter reduction

What is the minimal information that a robot must retain to achieve its task? To design economical robots, the literature dealing with reduction of combinatorial filters approaches this problem algorithmically. As lossless state compression is NP-hard, prior work has examined, along with minimization algorithms, a variety of special cases in which specific properties enable efficient solution. Complementing those findings, this paper refines the present understanding from the perspective of parameterized complexity. We give a fixed-parameter tractable algorithm for the general reduction problem by exploiting a transformation into minimal clique covering. The transformation introduces new constraints that arise from sequential dependencies encoded within the input filter -- some of these constraints can be repaired, others are treated through enumeration. Through this approach, we identify parameters affecting filter reduction that are based upon inter-constraint couplings (expressed as a notion of their height and width), which add to the structural parameters present in the unconstrained problem of minimal clique covering.Comment: 8 pages, 4 figure

Catalog Matching with Astrometric Correction and its Application to the Hubble Legacy Archive

Object cross-identification in multiple observations is often complicated by the uncertainties in their astrometric calibration. Due to the lack of standard reference objects, an image with a small field of view can have significantly larger errors in its absolute positioning than the relative precision of the detected sources within. We present a new general solution for the relative astrometry that quickly refines the World Coordinate System of overlapping fields. The efficiency is obtained through the use of infinitesimal 3-D rotations on the celestial sphere, which do not involve trigonometric functions. They also enable an analytic solution to an important step in making the astrometric corrections. In cases with many overlapping images, the correct identification of detections that match together across different images is difficult to determine. We describe a new greedy Bayesian approach for selecting the best object matches across a large number of overlapping images. The methods are developed and demonstrated on the Hubble Legacy Archive, one of the most challenging data sets today. We describe a novel catalog compiled from many Hubble Space Telescope observations, where the detections are combined into a searchable collection of matches that link the individual detections. The matches provide descriptions of astronomical objects involving multiple wavelengths and epochs. High relative positional accuracy of objects is achieved across the Hubble images, often sub-pixel precision in the order of just a few milli-arcseconds. The result is a reliable set of high-quality associations that are publicly available online.Comment: 9 pages, 9 figures, accepted for publication in the Astrophysical Journa