Coordinated Robot Navigation via Hierarchical Clustering

We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and representing spatially cohesive and segregated robot groups at different resolutions by relating the continuous space of configurations to the combinatorial space of trees. We formalize and exploit this relation, developing computationally effective reactive algorithms for navigating through the combinatorial space in concert with geometric realizations for a particular choice of hierarchical clustering method. These constructions yield computationally effective vector field planners for both hierarchically invariant as well as transitional navigation in the configuration space. We apply these methods to the centralized coordination and control of $n$ perfectly sensed and actuated Euclidean spheres in a $d$-dimensional ambient space (for arbitrary $n$ and $d$). Given a desired configuration supporting a desired hierarchy, we construct a hybrid controller which is quadratic in $n$ and algebraic in $d$ and prove that its execution brings all but a measure zero set of initial configurations to the desired goal with the guarantee of no collisions along the way.Comment: 29 pages, 13 figures, 8 tables, extended version of a paper in preparation for submission to a journa

A semantic-based platform for the digital analysis of architectural heritage

This essay focuses on the fields of architectural documentation and digital representation. We present a research paper concerning the development of an information system at the scale of architecture, taking into account the relationships that can be established between the representation of buildings (shape, dimension, state of conservation, hypothetical restitution) and heterogeneous information about various fields (such as the technical, the documentary or still the historical one). The proposed approach aims to organize multiple representations (and associated information) around a semantic description model with the goal of defining a system for the multi-field analysis of buildings

Hyperbolic Geometry of Complex Networks

We develop a geometric framework to study the structure and function of complex networks. We assume that hyperbolic geometry underlies these networks, and we show that with this assumption, heterogeneous degree distributions and strong clustering in complex networks emerge naturally as simple reflections of the negative curvature and metric property of the underlying hyperbolic geometry. Conversely, we show that if a network has some metric structure, and if the network degree distribution is heterogeneous, then the network has an effective hyperbolic geometry underneath. We then establish a mapping between our geometric framework and statistical mechanics of complex networks. This mapping interprets edges in a network as non-interacting fermions whose energies are hyperbolic distances between nodes, while the auxiliary fields coupled to edges are linear functions of these energies or distances. The geometric network ensemble subsumes the standard configuration model and classical random graphs as two limiting cases with degenerate geometric structures. Finally, we show that targeted transport processes without global topology knowledge, made possible by our geometric framework, are maximally efficient, according to all efficiency measures, in networks with strongest heterogeneity and clustering, and that this efficiency is remarkably robust with respect to even catastrophic disturbances and damages to the network structure