8,795 research outputs found
Incremental Sampling-based Algorithms for Optimal Motion Planning
During the last decade, incremental sampling-based motion planning
algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown
to work well in practice and to possess theoretical guarantees such as
probabilistic completeness. However, no theoretical bounds on the quality of
the solution obtained by these algorithms have been established so far. The
first contribution of this paper is a negative result: it is proven that, under
mild technical conditions, the cost of the best path in the RRT converges
almost surely to a non-optimal value. Second, a new algorithm is considered,
called the Rapidly-exploring Random Graph (RRG), and it is shown that the cost
of the best path in the RRG converges to the optimum almost surely. Third, a
tree version of RRG is introduced, called the RRT algorithm, which
preserves the asymptotic optimality of RRG while maintaining a tree structure
like RRT. The analysis of the new algorithms hinges on novel connections
between sampling-based motion planning algorithms and the theory of random
geometric graphs. In terms of computational complexity, it is shown that the
number of simple operations required by both the RRG and RRT algorithms is
asymptotically within a constant factor of that required by RRT.Comment: 20 pages, 10 figures, this manuscript is submitted to the
International Journal of Robotics Research, a short version is to appear at
the 2010 Robotics: Science and Systems Conference
CSD: Discriminance with Conic Section for Improving Reverse k Nearest Neighbors Queries
The reverse nearest neighbor (RNN) query finds all points that have
the query point as one of their nearest neighbors (NN), where the NN
query finds the closest points to its query point. Based on the
characteristics of conic section, we propose a discriminance, named CSD (Conic
Section Discriminance), to determine points whether belong to the RNN set
without issuing any queries with non-constant computational complexity. By
using CSD, we also implement an efficient RNN algorithm CSD-RNN with a
computational complexity at . The comparative
experiments are conducted between CSD-RNN and other two state-of-the-art
RkNN algorithms, SLICE and VR-RNN. The experimental results indicate that
the efficiency of CSD-RNN is significantly higher than its competitors
Dense point sets have sparse Delaunay triangulations
The spread of a finite set of points is the ratio between the longest and
shortest pairwise distances. We prove that the Delaunay triangulation of any
set of n points in R^3 with spread D has complexity O(D^3). This bound is tight
in the worst case for all D = O(sqrt{n}). In particular, the Delaunay
triangulation of any dense point set has linear complexity. We also generalize
this upper bound to regular triangulations of k-ply systems of balls, unions of
several dense point sets, and uniform samples of smooth surfaces. On the other
hand, for any n and D=O(n), we construct a regular triangulation of complexity
Omega(nD) whose n vertices have spread D.Comment: 31 pages, 11 figures. Full version of SODA 2002 paper. Also available
at http://www.cs.uiuc.edu/~jeffe/pubs/screw.htm
Fitness landscape of the cellular automata majority problem: View from the Olympus
In this paper we study cellular automata (CAs) that perform the computational
Majority task. This task is a good example of what the phenomenon of emergence
in complex systems is. We take an interest in the reasons that make this
particular fitness landscape a difficult one. The first goal is to study the
landscape as such, and thus it is ideally independent from the actual
heuristics used to search the space. However, a second goal is to understand
the features a good search technique for this particular problem space should
possess. We statistically quantify in various ways the degree of difficulty of
searching this landscape. Due to neutrality, investigations based on sampling
techniques on the whole landscape are difficult to conduct. So, we go exploring
the landscape from the top. Although it has been proved that no CA can perform
the task perfectly, several efficient CAs for this task have been found.
Exploiting similarities between these CAs and symmetries in the landscape, we
define the Olympus landscape which is regarded as the ''heavenly home'' of the
best local optima known (blok). Then we measure several properties of this
subspace. Although it is easier to find relevant CAs in this subspace than in
the overall landscape, there are structural reasons that prevent a searcher
from finding overfitted CAs in the Olympus. Finally, we study dynamics and
performance of genetic algorithms on the Olympus in order to confirm our
analysis and to find efficient CAs for the Majority problem with low
computational cost
Asymmetries arising from the space-filling nature of vascular networks
Cardiovascular networks span the body by branching across many generations of
vessels. The resulting structure delivers blood over long distances to supply
all cells with oxygen via the relatively short-range process of diffusion at
the capillary level. The structural features of the network that accomplish
this density and ubiquity of capillaries are often called space-filling. There
are multiple strategies to fill a space, but some strategies do not lead to
biologically adaptive structures by requiring too much construction material or
space, delivering resources too slowly, or using too much power to move blood
through the system. We empirically measure the structure of real networks (18
humans and 1 mouse) and compare these observations with predictions of model
networks that are space-filling and constrained by a few guiding biological
principles. We devise a numerical method that enables the investigation of
space-filling strategies and determination of which biological principles
influence network structure. Optimization for only a single principle creates
unrealistic networks that represent an extreme limit of the possible structures
that could be observed in nature. We first study these extreme limits for two
competing principles, minimal total material and minimal path lengths. We
combine these two principles and enforce various thresholds for balance in the
network hierarchy, which provides a novel approach that highlights the
trade-offs faced by biological networks and yields predictions that better
match our empirical data.Comment: 17 pages, 15 figure
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