2,938 research outputs found
Estimating the weight of metric minimum spanning trees in sublinear time
In this paper we present a sublinear-time -approximation randomized algorithm to estimate the weight of the minimum spanning tree of an -point metric space. The running time of the algorithm is . Since the full description of an -point metric space is of size , the complexity of our algorithm is sublinear with respect to the input size. Our algorithm is almost optimal as it is not possible to approximate in time the weight of the minimum spanning tree to within any factor. We also show that no deterministic algorithm can achieve a -approximation in time. Furthermore, it has been previously shown that no algorithm exists that returns a spanning tree whose weight is within a constant times the optimum
Near Optimal Parallel Algorithms for Dynamic DFS in Undirected Graphs
Depth first search (DFS) tree is a fundamental data structure for solving
graph problems. The classical algorithm [SiComp74] for building a DFS tree
requires time for a given graph having vertices and edges.
Recently, Baswana et al. [SODA16] presented a simple algorithm for updating DFS
tree of an undirected graph after an edge/vertex update in time.
However, their algorithm is strictly sequential. We present an algorithm
achieving similar bounds, that can be adopted easily to the parallel
environment.
In the parallel model, a DFS tree can be computed from scratch using
processors in expected time [SiComp90] on an EREW PRAM, whereas
the best deterministic algorithm takes time
[SiComp90,JAlg93] on a CRCW PRAM. Our algorithm can be used to develop optimal
(upto polylog n factors deterministic algorithms for maintaining fully dynamic
DFS and fault tolerant DFS, of an undirected graph.
1- Parallel Fully Dynamic DFS:
Given an arbitrary online sequence of vertex/edge updates, we can maintain a
DFS tree of an undirected graph in time per update using
processors on an EREW PRAM.
2- Parallel Fault tolerant DFS:
An undirected graph can be preprocessed to build a data structure of size
O(m) such that for a set of updates (where is constant) in the graph,
the updated DFS tree can be computed in time using
processors on an EREW PRAM.
Moreover, our fully dynamic DFS algorithm provides, in a seamless manner,
nearly optimal (upto polylog n factors) algorithms for maintaining a DFS tree
in semi-streaming model and a restricted distributed model. These are the first
parallel, semi-streaming and distributed algorithms for maintaining a DFS tree
in the dynamic setting.Comment: Accepted to appear in SPAA'17, 32 Pages, 5 Figure
Tree-Independent Dual-Tree Algorithms
Dual-tree algorithms are a widely used class of branch-and-bound algorithms.
Unfortunately, developing dual-tree algorithms for use with different trees and
problems is often complex and burdensome. We introduce a four-part logical
split: the tree, the traversal, the point-to-point base case, and the pruning
rule. We provide a meta-algorithm which allows development of dual-tree
algorithms in a tree-independent manner and easy extension to entirely new
types of trees. Representations are provided for five common algorithms; for
k-nearest neighbor search, this leads to a novel, tighter pruning bound. The
meta-algorithm also allows straightforward extensions to massively parallel
settings.Comment: accepted in ICML 201
Efficient Multi-Robot Coverage of a Known Environment
This paper addresses the complete area coverage problem of a known
environment by multiple-robots. Complete area coverage is the problem of moving
an end-effector over all available space while avoiding existing obstacles. In
such tasks, using multiple robots can increase the efficiency of the area
coverage in terms of minimizing the operational time and increase the
robustness in the face of robot attrition. Unfortunately, the problem of
finding an optimal solution for such an area coverage problem with multiple
robots is known to be NP-complete. In this paper we present two approximation
heuristics for solving the multi-robot coverage problem. The first solution
presented is a direct extension of an efficient single robot area coverage
algorithm, based on an exact cellular decomposition. The second algorithm is a
greedy approach that divides the area into equal regions and applies an
efficient single-robot coverage algorithm to each region. We present
experimental results for two algorithms. Results indicate that our approaches
provide good coverage distribution between robots and minimize the workload per
robot, meanwhile ensuring complete coverage of the area.Comment: In proceedings of IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), 201
Minimum Cuts in Geometric Intersection Graphs
Let be a set of disks in the plane. The disk graph
for is the undirected graph with vertex set
in which two disks are joined by an edge if and only if they
intersect. The directed transmission graph for
is the directed graph with vertex set in which
there is an edge from a disk to a disk if and only if contains the center of .
Given and two non-intersecting disks , we
show that a minimum - vertex cut in or in
can be found in
expected time. To obtain our result, we combine an algorithm for the maximum
flow problem in general graphs with dynamic geometric data structures to
manipulate the disks.
As an application, we consider the barrier resilience problem in a
rectangular domain. In this problem, we have a vertical strip bounded by
two vertical lines, and , and a collection of
disks. Let be a point in above all disks of , and let
a point in below all disks of . The task is to find a curve
from to that lies in and that intersects as few disks of
as possible. Using our improved algorithm for minimum cuts in
disk graphs, we can solve the barrier resilience problem in
expected time.Comment: 11 pages, 4 figure
Efficient Large-scale Approximate Nearest Neighbor Search on the GPU
We present a new approach for efficient approximate nearest neighbor (ANN)
search in high dimensional spaces, extending the idea of Product Quantization.
We propose a two-level product and vector quantization tree that reduces the
number of vector comparisons required during tree traversal. Our approach also
includes a novel highly parallelizable re-ranking method for candidate vectors
by efficiently reusing already computed intermediate values. Due to its small
memory footprint during traversal, the method lends itself to an efficient,
parallel GPU implementation. This Product Quantization Tree (PQT) approach
significantly outperforms recent state of the art methods for high dimensional
nearest neighbor queries on standard reference datasets. Ours is the first work
that demonstrates GPU performance superior to CPU performance on high
dimensional, large scale ANN problems in time-critical real-world applications,
like loop-closing in videos
Geometry-Oblivious FMM for Compressing Dense SPD Matrices
We present GOFMM (geometry-oblivious FMM), a novel method that creates a
hierarchical low-rank approximation, "compression," of an arbitrary dense
symmetric positive definite (SPD) matrix. For many applications, GOFMM enables
an approximate matrix-vector multiplication in or even time,
where is the matrix size. Compression requires storage and work.
In general, our scheme belongs to the family of hierarchical matrix
approximation methods. In particular, it generalizes the fast multipole method
(FMM) to a purely algebraic setting by only requiring the ability to sample
matrix entries. Neither geometric information (i.e., point coordinates) nor
knowledge of how the matrix entries have been generated is required, thus the
term "geometry-oblivious." Also, we introduce a shared-memory parallel scheme
for hierarchical matrix computations that reduces synchronization barriers. We
present results on the Intel Knights Landing and Haswell architectures, and on
the NVIDIA Pascal architecture for a variety of matrices.Comment: 13 pages, accepted by SC'1
Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning
We present a sampling-based framework for multi-robot motion planning which
combines an implicit representation of a roadmap with a novel approach for
pathfinding in geometrically embedded graphs tailored for our setting. Our
pathfinding algorithm, discrete-RRT (dRRT), is an adaptation of the celebrated
RRT algorithm for the discrete case of a graph, and it enables a rapid
exploration of the high-dimensional configuration space by carefully walking
through an implicit representation of a tensor product of roadmaps for the
individual robots. We demonstrate our approach experimentally on scenarios of
up to 60 degrees of freedom where our algorithm is faster by a factor of at
least ten when compared to existing algorithms that we are aware of.Comment: Kiril Solovey and Oren Salzman contributed equally to this pape
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