Faster Geometric Algorithms via Dynamic Determinant Computation

The computation of determinants or their signs is the core procedure in many important geometric algorithms, such as convex hull, volume and point location. As the dimension of the computation space grows, a higher percentage of the total computation time is consumed by these computations. In this paper we study the sequences of determinants that appear in geometric algorithms. The computation of a single determinant is accelerated by using the information from the previous computations in that sequence. We propose two dynamic determinant algorithms with quadratic arithmetic complexity when employed in convex hull and volume computations, and with linear arithmetic complexity when used in point location problems. We implement the proposed algorithms and perform an extensive experimental analysis. On one hand, our analysis serves as a performance study of state-of-the-art determinant algorithms and implementations. On the other hand, we demonstrate the supremacy of our methods over state-of-the-art implementations of determinant and geometric algorithms. Our experimental results include a 20 and 78 times speed-up in volume and point location computations in dimension 6 and 11 respectively.Comment: 29 pages, 8 figures, 3 table

Computing Dynamic Output Feedback Laws

The pole placement problem asks to find laws to feed the output of a plant governed by a linear system of differential equations back to the input of the plant so that the resulting closed-loop system has a desired set of eigenvalues. Converting this problem into a question of enumerative geometry, efficient numerical homotopy algorithms to solve this problem for general Multi-Input-Multi-Output (MIMO) systems have been proposed recently. While dynamic feedback laws offer a wider range of use, the realization of the output of the numerical homotopies as a machine to control the plant in the time domain has not been addressed before. In this paper we present symbolic-numeric algorithms to turn the solution to the question of enumerative geometry into a useful control feedback machine. We report on numerical experiments with our publicly available software and illustrate its application on various control problems from the literature.Comment: 20 pages, 3 figures; the software described in this paper is publicly available via http://www.math.uic.edu/~jan/download.htm

Elimination for generic sparse polynomial systems

We present a new probabilistic symbolic algorithm that, given a variety defined in an n-dimensional affine space by a generic sparse system with fixed supports, computes the Zariski closure of its projection to an l-dimensional coordinate affine space with l < n. The complexity of the algorithm depends polynomially on combinatorial invariants associated to the supports.Comment: 22 page

Attention and Anticipation in Fast Visual-Inertial Navigation

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table

Directed Hamiltonicity and Out-Branchings via Generalized Laplacians

We are motivated by a tantalizing open question in exact algorithms: can we detect whether an $n$-vertex directed graph $G$ has a Hamiltonian cycle in time significantly less than $2^n$? We present new randomized algorithms that improve upon several previous works: 1. We show that for any constant $0<\lambda<1$ and prime $p$ we can count the Hamiltonian cycles modulo $p^{\lfloor (1-\lambda)\frac{n}{3p}\rfloor}$ in expected time less than $c^n$ for a constant $c<2$ that depends only on $p$ and $\lambda$. Such an algorithm was previously known only for the case of counting modulo two [Bj\"orklund and Husfeldt, FOCS 2013]. 2. We show that we can detect a Hamiltonian cycle in $O^*(3^{n-\alpha(G)})$ time and polynomial space, where $\alpha(G)$ is the size of the maximum independent set in $G$. In particular, this yields an $O^*(3^{n/2})$ time algorithm for bipartite directed graphs, which is faster than the exponential-space algorithm in [Cygan et al., STOC 2013]. Our algorithms are based on the algebraic combinatorics of "incidence assignments" that we can capture through evaluation of determinants of Laplacian-like matrices, inspired by the Matrix--Tree Theorem for directed graphs. In addition to the novel algorithms for directed Hamiltonicity, we use the Matrix--Tree Theorem to derive simple algebraic algorithms for detecting out-branchings. Specifically, we give an $O^*(2^k)$-time randomized algorithm for detecting out-branchings with at least $k$ internal vertices, improving upon the algorithms of [Zehavi, ESA 2015] and [Bj\"orklund et al., ICALP 2015]. We also present an algebraic algorithm for the directed $k$-Leaf problem, based on a non-standard monomial detection problem