Sampling-based Algorithms for Optimal Motion Planning

During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However, little effort has been devoted to the formal analysis of the quality of the solution returned by such algorithms, e.g., as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms as the number of samples increases. A number of negative results are provided, characterizing existing algorithms, e.g., showing that, under mild technical conditions, the cost of the solution returned by broadly used sampling-based algorithms converges almost surely to a non-optimal value. The main contribution of the paper is the introduction of new algorithms, namely, PRM* and RRT*, which are provably asymptotically optimal, i.e., such that the cost of the returned solution converges almost surely to the optimum. Moreover, it is shown that the computational complexity of the new algorithms is within a constant factor of that of their probabilistically complete (but not asymptotically optimal) counterparts. The analysis in this paper hinges on novel connections between stochastic sampling-based path planning algorithms and the theory of random geometric graphs.Comment: 76 pages, 26 figures, to appear in International Journal of Robotics Researc

Finding Connected Dense kk-Subgraphs

Given a connected graph $G$ on $n$ vertices and a positive integer $k\le n$, a subgraph of $G$ on $k$ vertices is called a $k$-subgraph in $G$. We design combinatorial approximation algorithms for finding a connected $k$-subgraph in $G$ such that its density is at least a factor $\Omega(\max\{n^{-2/5},k^2/n^2\})$ of the density of the densest $k$-subgraph in $G$ (which is not necessarily connected). These particularly provide the first non-trivial approximations for the densest connected $k$-subgraph problem on general graphs

Empirical geodesic graphs and CAT(k) metrics for data analysis

A methodology is developed for data analysis based on empirically constructed geodesic metric spaces. For a probability distribution, the length along a path between two points can be defined as the amount of probability mass accumulated along the path. The geodesic, then, is the shortest such path and defines a geodesic metric. Such metrics are transformed in a number of ways to produce parametrised families of geodesic metric spaces, empirical versions of which allow computation of intrinsic means and associated measures of dispersion. These reveal properties of the data, based on geometry, such as those that are difficult to see from the raw Euclidean distances. Examples of application include clustering and classification. For certain parameter ranges, the spaces become CAT(0) spaces and the intrinsic means are unique. In one case, a minimal spanning tree of a graph based on the data becomes CAT(0). In another, a so-called "metric cone" construction allows extension to CAT($k$) spaces. It is shown how to empirically tune the parameters of the metrics, making it possible to apply them to a number of real cases.Comment: Statistics and Computing, 201