28,406 research outputs found
Optimal decremental connectivity in planar graphs
We show an algorithm for dynamic maintenance of connectivity information in
an undirected planar graph subject to edge deletions. Our algorithm may answer
connectivity queries of the form `Are vertices and connected with a
path?' in constant time. The queries can be intermixed with any sequence of
edge deletions, and the algorithm handles all updates in time. This
results improves over previously known time algorithm
Connectivity Oracles for Graphs Subject to Vertex Failures
We introduce new data structures for answering connectivity queries in graphs
subject to batched vertex failures. A deterministic structure processes a batch
of failed vertices in time and thereafter
answers connectivity queries in time. It occupies space . We develop a randomized Monte Carlo version of our data structure
with update time , query time , and space
for any failure bound . This is the first connectivity oracle for
general graphs that can efficiently deal with an unbounded number of vertex
failures.
We also develop a more efficient Monte Carlo edge-failure connectivity
oracle. Using space , edge failures are processed in time and thereafter, connectivity queries are answered in
time, which are correct w.h.p.
Our data structures are based on a new decomposition theorem for an
undirected graph , which is of independent interest. It states that
for any terminal set we can remove a set of
vertices such that the remaining graph contains a Steiner forest for with
maximum degree
Decentralized Connectivity-Preserving Deployment of Large-Scale Robot Swarms
We present a decentralized and scalable approach for deployment of a robot
swarm. Our approach tackles scenarios in which the swarm must reach multiple
spatially distributed targets, and enforce the constraint that the robot
network cannot be split. The basic idea behind our work is to construct a
logical tree topology over the physical network formed by the robots. The
logical tree acts as a backbone used by robots to enforce connectivity
constraints. We study and compare two algorithms to form the logical tree:
outwards and inwards. These algorithms differ in the order in which the robots
join the tree: the outwards algorithm starts at the tree root and grows towards
the targets, while the inwards algorithm proceeds in the opposite manner. Both
algorithms perform periodic reconfiguration, to prevent suboptimal topologies
from halting the growth of the tree. Our contributions are (i) The formulation
of the two algorithms; (ii) A comparison of the algorithms in extensive
physics-based simulations; (iii) A validation of our findings through
real-robot experiments.Comment: 8 pages, 8 figures, submitted to IROS 201
Complementary network-based approaches for exploring genetic structure and functional connectivity in two vulnerable, endemic ground squirrels
The persistence of small populations is influenced by genetic structure and functional connectivity. We used two network-based approaches to understand the persistence of the northern Idaho ground squirrel (Urocitellus brunneus) and the southern Idaho ground squirrel (U. endemicus), two congeners of conservation concern. These graph theoretic approaches are conventionally applied to social or transportation networks, but here are used to study population persistence and connectivity. Population graph analyses revealed that local extinction rapidly reduced connectivity for the southern species, while connectivity for the northern species could be maintained following local extinction. Results from gravity models complemented those of population graph analyses, and indicated that potential vegetation productivity and topography drove connectivity in the northern species. For the southern species, development (roads) and small-scale topography reduced connectivity, while greater potential vegetation productivity increased connectivity. Taken together, the results of the two network-based methods (population graph analyses and gravity models) suggest the need for increased conservation action for the southern species, and that management efforts have been effective at maintaining habitat quality throughout the current range of the northern species. To prevent further declines, we encourage the continuation of management efforts for the northern species, whereas conservation of the southern species requires active management and additional measures to curtail habitat fragmentation. Our combination of population graph analyses and gravity models can inform conservation strategies of other species exhibiting patchy distributions
Learning Discriminative Bayesian Networks from High-dimensional Continuous Neuroimaging Data
Due to its causal semantics, Bayesian networks (BN) have been widely employed
to discover the underlying data relationship in exploratory studies, such as
brain research. Despite its success in modeling the probability distribution of
variables, BN is naturally a generative model, which is not necessarily
discriminative. This may cause the ignorance of subtle but critical network
changes that are of investigation values across populations. In this paper, we
propose to improve the discriminative power of BN models for continuous
variables from two different perspectives. This brings two general
discriminative learning frameworks for Gaussian Bayesian networks (GBN). In the
first framework, we employ Fisher kernel to bridge the generative models of GBN
and the discriminative classifiers of SVMs, and convert the GBN parameter
learning to Fisher kernel learning via minimizing a generalization error bound
of SVMs. In the second framework, we employ the max-margin criterion and build
it directly upon GBN models to explicitly optimize the classification
performance of the GBNs. The advantages and disadvantages of the two frameworks
are discussed and experimentally compared. Both of them demonstrate strong
power in learning discriminative parameters of GBNs for neuroimaging based
brain network analysis, as well as maintaining reasonable representation
capacity. The contributions of this paper also include a new Directed Acyclic
Graph (DAG) constraint with theoretical guarantee to ensure the graph validity
of GBN.Comment: 16 pages and 5 figures for the article (excluding appendix
The Complexity of Change
Many combinatorial problems can be formulated as "Can I transform
configuration 1 into configuration 2, if certain transformations only are
allowed?". An example of such a question is: given two k-colourings of a graph,
can I transform the first k-colouring into the second one, by recolouring one
vertex at a time, and always maintaining a proper k-colouring? Another example
is: given two solutions of a SAT-instance, can I transform the first solution
into the second one, by changing the truth value one variable at a time, and
always maintaining a solution of the SAT-instance? Other examples can be found
in many classical puzzles, such as the 15-Puzzle and Rubik's Cube.
In this survey we shall give an overview of some older and more recent work
on this type of problem. The emphasis will be on the computational complexity
of the problems: how hard is it to decide if a certain transformation is
possible or not?Comment: 28 pages, 6 figure
Lombardi Drawings of Graphs
We introduce the notion of Lombardi graph drawings, named after the American
abstract artist Mark Lombardi. In these drawings, edges are represented as
circular arcs rather than as line segments or polylines, and the vertices have
perfect angular resolution: the edges are equally spaced around each vertex. We
describe algorithms for finding Lombardi drawings of regular graphs, graphs of
bounded degeneracy, and certain families of planar graphs.Comment: Expanded version of paper appearing in the 18th International
Symposium on Graph Drawing (GD 2010). 13 pages, 7 figure
Experience-Based Planning with Sparse Roadmap Spanners
We present an experienced-based planning framework called Thunder that learns
to reduce computation time required to solve high-dimensional planning problems
in varying environments. The approach is especially suited for large
configuration spaces that include many invariant constraints, such as those
found with whole body humanoid motion planning. Experiences are generated using
probabilistic sampling and stored in a sparse roadmap spanner (SPARS), which
provides asymptotically near-optimal coverage of the configuration space,
making storing, retrieving, and repairing past experiences very efficient with
respect to memory and time. The Thunder framework improves upon past
experience-based planners by storing experiences in a graph rather than in
individual paths, eliminating redundant information, providing more
opportunities for path reuse, and providing a theoretical limit to the size of
the experience graph. These properties also lead to improved handling of
dynamically changing environments, reasoning about optimal paths, and reducing
query resolution time. The approach is demonstrated on a 30 degrees of freedom
humanoid robot and compared with the Lightning framework, an experience-based
planner that uses individual paths to store past experiences. In environments
with variable obstacles and stability constraints, experiments show that
Thunder is on average an order of magnitude faster than Lightning and planning
from scratch. Thunder also uses 98.8% less memory to store its experiences
after 10,000 trials when compared to Lightning. Our framework is implemented
and freely available in the Open Motion Planning Library.Comment: Submitted to ICRA 201
- …