2,506 research outputs found
Graph-based task libraries for robots: generalization and autocompletion
In this paper, we consider an autonomous robot that persists
over time performing tasks and the problem of providing one additional
task to the robot's task library. We present an approach to generalize
tasks, represented as parameterized graphs with sequences, conditionals,
and looping constructs of sensing and actuation primitives. Our approach
performs graph-structure task generalization, while maintaining task ex-
ecutability and parameter value distributions. We present an algorithm
that, given the initial steps of a new task, proposes an autocompletion
based on a recognized past similar task. Our generalization and auto-
completion contributions are eective on dierent real robots. We show
concrete examples of the robot primitives and task graphs, as well as
results, with Baxter. In experiments with multiple tasks, we show a sig-
nicant reduction in the number of new task steps to be provided
Frequent Subgraph Mining in Outerplanar Graphs
In recent years there has been an increased interest in frequent pattern discovery in large databases of graph structured objects. While the frequent connected subgraph mining problem for tree datasets can be solved in incremental polynomial time, it becomes intractable for arbitrary graph databases. Existing approaches have therefore resorted to various heuristic strategies and restrictions of the search space, but have not identified a practically relevant tractable graph class beyond trees. In this paper, we define the class of so called tenuous outerplanar graphs, a strict generalization of trees, develop a frequent subgraph mining algorithm for tenuous outerplanar graphs that works in incremental polynomial time, and evaluate the algorithm empirically on the NCI molecular graph dataset
Frequent Subgraph Mining in Outerplanar Graphs
In recent years there has been an increased interest in frequent pattern discovery in large databases of graph structured objects. While the frequent connected subgraph mining problem for tree datasets can be solved in incremental polynomial time, it becomes intractable for arbitrary graph databases. Existing approaches have therefore resorted to various heuristic strategies and restrictions of the search space, but have not identified a practically relevant tractable graph class beyond trees. In this paper, we define the class of so called tenuous outerplanar graphs, a strict generalization of trees, develop a frequent subgraph mining algorithm for tenuous outerplanar graphs that works in incremental polynomial time, and evaluate the algorithm empirically on the NCI molecular graph dataset
A comparative analysis of web-based GIS applications using usability metrics
With the rapid expansion of the internet, Web-based Geographic Information System (WGIS) applications have gained popularity, despite the interface of the WGIS application being difficult to learn and understand because special functions are needed to manipulate the maps. Hence, it is essential to evaluate the usability of WGIS applications. Usability is an important factor in ensuring the development of quality, usable software products. On the other hand, there are a number of standards and models in the literature, each of which describes usability in terms of various set of attributes. These models are vague and difficult to understand. Therefore, the primary purpose of this study is to compare five common usability models (Shackel, Nielsen, ISO 9241 P-11, ISO 9126-1 and QUIM) to identify usability metrics that have most frequently used in the previous models. The questionnaire method and the automated usability evaluation method by using Loop11 tool were used, in order to evaluate the usability metrics for three case studies of commonly used WGIS applications as Google maps, Yahoo maps, and MapQuest. Finally, those case studies were compared and analysed based on usability metrics that have been identified. Based on a comparative study, four usability metrics (Effectiveness, Efficiency, Satisfaction and Learnability) were identified. Those usability metrics were characterized by consistent, comprehensive, not vaguely and proper to evaluate the usability of WGIS applications. In addition, there was a positive correlation between these usability metrics. The comparative analysis indicates that Effectiveness, Satisfaction and Learnability were higher, and the Efficiency was lesser by using the Loop11 tool compared to questionnaire method for the three case studies. In addition, Yahoo Maps and MapQuest have usability metrics rate lesser than Google Maps by applying two methods. Therefore, Google Maps is more usable compared to Yahoo Maps and MapQuest
XML documents clustering using a tensor space model
The traditional Vector Space Model (VSM) is not able to represent both the structure and the content of XML documents. This paper introduces a novel method of representing XML documents in a Tensor Space Model (TSM) and then utilizing it for clustering. Empirical analysis shows that the proposed method is scalable for large-sized datasets; as well, the factorized matrices produced from the proposed method help to improve the quality of clusters through the enriched document representation of both structure and content information
A Survey on Graph Kernels
Graph kernels have become an established and widely-used technique for
solving classification tasks on graphs. This survey gives a comprehensive
overview of techniques for kernel-based graph classification developed in the
past 15 years. We describe and categorize graph kernels based on properties
inherent to their design, such as the nature of their extracted graph features,
their method of computation and their applicability to problems in practice. In
an extensive experimental evaluation, we study the classification accuracy of a
large suite of graph kernels on established benchmarks as well as new datasets.
We compare the performance of popular kernels with several baseline methods and
study the effect of applying a Gaussian RBF kernel to the metric induced by a
graph kernel. In doing so, we find that simple baselines become competitive
after this transformation on some datasets. Moreover, we study the extent to
which existing graph kernels agree in their predictions (and prediction errors)
and obtain a data-driven categorization of kernels as result. Finally, based on
our experimental results, we derive a practitioner's guide to kernel-based
graph classification
Exploring Communities in Large Profiled Graphs
Given a graph and a vertex , the community search (CS) problem
aims to efficiently find a subgraph of whose vertices are closely related
to . Communities are prevalent in social and biological networks, and can be
used in product advertisement and social event recommendation. In this paper,
we study profiled community search (PCS), where CS is performed on a profiled
graph. This is a graph in which each vertex has labels arranged in a
hierarchical manner. Extensive experiments show that PCS can identify
communities with themes that are common to their vertices, and is more
effective than existing CS approaches. As a naive solution for PCS is highly
expensive, we have also developed a tree index, which facilitate efficient and
online solutions for PCS
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