c-trie++: A Dynamic Trie Tailored for Fast Prefix Searches

Given a dynamic set $K$ of $k$ strings of total length $n$ whose characters are drawn from an alphabet of size $\sigma$, a keyword dictionary is a data structure built on $K$ that provides locate, prefix search, and update operations on $K$. Under the assumption that $\alpha = w / \lg \sigma$ characters fit into a single machine word $w$, we propose a keyword dictionary that represents $K$ in $n \lg \sigma + \Theta(k \lg n)$ bits of space, supporting all operations in $O(m / \alpha + \lg \alpha)$ expected time on an input string of length $m$ in the word RAM model. This data structure is underlined with an exhaustive practical evaluation, highlighting the practical usefulness of the proposed data structure, especially for prefix searches - one of the most elementary keyword dictionary operations

Practical Evaluation of Lempel-Ziv-78 and Lempel-Ziv-Welch Tries

We present the first thorough practical study of the Lempel-Ziv-78 and the Lempel-Ziv-Welch computation based on trie data structures. With a careful selection of trie representations we can beat well-tuned popular trie data structures like Judy, m-Bonsai or Cedar

MPC-based humanoid pursuit-evasion in the presence of obstacles

We consider a pursuit-evasion problem between humanoids in the presence of obstacles. In our scenario, the pursuer enters the safety area of the evader headed for collision, while the latter executes a fast evasive motion. Control schemes are designed for both the pursuer and the evader. They are structurally identical, although the objectives are different: the pursuer tries to align its direction of motion with the line- of-sight to the evader, whereas the evader tries to move in a direction orthogonal to the line-of-sight to the pursuer. At the core of the control architecture is a Model Predictive Control scheme for generating a stable gait. This allows for the inclusion of workspace obstacles, which we take into account at two levels: during the determination of the footsteps orientation and as an explicit MPC constraint. We illustrate the results with simulations on NAO humanoids

Systematic coarse graining: "Four lessons and a caveat" from nonequilibrium statistical mechanics

With the guidance offered by nonequilibrium statistical thermodynamics, simulation techniques are elevated from brute-force computer experiments to systematic tools for extracting complete, redundancy-free and consistent coarse grained information for dynamic systems. We sketch the role and potential of Monte Carlo, molecular dynamics and Brownian dynamics simulations in the thermodynamic approach to coarse graining. A melt of entangled linear polyethylene molecules serves us as an illustrative example.Comment: 15 pages, 4 figure