Collective Construction of 2D Block Structures with Holes

In this paper we present algorithms for collective construction systems in which a large number of autonomous mobile robots trans- port modular building elements to construct a desired structure. We focus on building block structures subject to some physical constraints that restrict the order in which the blocks may be attached to the structure. Specifically, we determine a partial ordering on the blocks such that if they are attached in accordance with this ordering, then (i) the structure is a single, connected piece at all intermediate stages of construction, and (ii) no block is attached between two other previously attached blocks, since such a space is too narrow for a robot to maneuver a block into it. Previous work has consider this problem for building 2D structures without holes. Here we extend this work to 2D structures with holes. We accomplish this by modeling the problem as a graph orientation problem and describe an O(n^2) algorithm for solving it. We also describe how this partial ordering may be used in a distributed fashion by the robots to coordinate their actions during the building process.Comment: 13 pages, 3 figure

Towards the Erd\H{o}s-Gallai Cycle Decomposition Conjecture

In the 1960's, Erd\H{o}s and Gallai conjectured that the edges of any $n$-vertex graph can be decomposed into $O(n)$ cycles and edges. We improve upon the previous best bound of $O(n\log\log n)$ cycles and edges due to Conlon, Fox and Sudakov, by showing an $n$-vertex graph can always be decomposed into $O(n\log^{*}n)$ cycles and edges, where $\log^{*}n$ is the iterated logarithm function.Comment: Final version, accepted for publicatio

Fermions and Loops on Graphs. I. Loop Calculus for Determinant

This paper is the first in the series devoted to evaluation of the partition function in statistical models on graphs with loops in terms of the Berezin/fermion integrals. The paper focuses on a representation of the determinant of a square matrix in terms of a finite series, where each term corresponds to a loop on the graph. The representation is based on a fermion version of the Loop Calculus, previously introduced by the authors for graphical models with finite alphabets. Our construction contains two levels. First, we represent the determinant in terms of an integral over anti-commuting Grassman variables, with some reparametrization/gauge freedom hidden in the formulation. Second, we show that a special choice of the gauge, called BP (Bethe-Peierls or Belief Propagation) gauge, yields the desired loop representation. The set of gauge-fixing BP conditions is equivalent to the Gaussian BP equations, discussed in the past as efficient (linear scaling) heuristics for estimating the covariance of a sparse positive matrix.Comment: 11 pages, 1 figure; misprints correcte