2,310 research outputs found
A fast semi-direct least squares algorithm for hierarchically block separable matrices
We present a fast algorithm for linear least squares problems governed by
hierarchically block separable (HBS) matrices. Such matrices are generally
dense but data-sparse and can describe many important operators including those
derived from asymptotically smooth radial kernels that are not too oscillatory.
The algorithm is based on a recursive skeletonization procedure that exposes
this sparsity and solves the dense least squares problem as a larger,
equality-constrained, sparse one. It relies on a sparse QR factorization
coupled with iterative weighted least squares methods. In essence, our scheme
consists of a direct component, comprised of matrix compression and
factorization, followed by an iterative component to enforce certain equality
constraints. At most two iterations are typically required for problems that
are not too ill-conditioned. For an HBS matrix with
having bounded off-diagonal block rank, the algorithm has optimal complexity. If the rank increases with the spatial dimension as is
common for operators that are singular at the origin, then this becomes
in 1D, in 2D, and
in 3D. We illustrate the performance of the method on
both over- and underdetermined systems in a variety of settings, with an
emphasis on radial basis function approximation and efficient updating and
downdating.Comment: 24 pages, 8 figures, 6 tables; to appear in SIAM J. Matrix Anal. App
Efficient resolution of potentially conflicting linear constraints in robotics
Submitted to IEEE TRO (05/August/2015)—A classical approach to handling potentially conflicting linear equality and inequality constraints in robotics is to impose a strict prioritization between them. Ensuring that the satisfaction of constraints with lower priority does not impact the satisfaction of constraints with higher priority is routinely done by solving a hierarchical least-squares problem. Such a task prioritization is often considered to be computationally demanding and, as a result, it is often approximated using a standard weighted least-squares problem. The main contribution of this article is to address this misconception and demonstrate, both in theory and in practice, that the hierarchical problem can in fact be solved faster than its weighted counterpart. The proposed approach to efficiently solving hierarchical least-squares problems is based on a novel matrix factorization, to be referred to as " lexicographic QR " , or ℓ-QR in short. We present numerical results based on three representative examples adopted from recent robotics literature which demonstrate that complex hierarchical problems can be tackled in real-time even with limited computational resources
Efficient resolution of potentially conflicting linear constraints in robotics
Submitted to IEEE TRO (05/August/2015)—A classical approach to handling potentially conflicting linear equality and inequality constraints in robotics is to impose a strict prioritization between them. Ensuring that the satisfaction of constraints with lower priority does not impact the satisfaction of constraints with higher priority is routinely done by solving a hierarchical least-squares problem. Such a task prioritization is often considered to be computationally demanding and, as a result, it is often approximated using a standard weighted least-squares problem. The main contribution of this article is to address this misconception and demonstrate, both in theory and in practice, that the hierarchical problem can in fact be solved faster than its weighted counterpart. The proposed approach to efficiently solving hierarchical least-squares problems is based on a novel matrix factorization, to be referred to as " lexicographic QR " , or ℓ-QR in short. We present numerical results based on three representative examples adopted from recent robotics literature which demonstrate that complex hierarchical problems can be tackled in real-time even with limited computational resources
Perturbation bounds for constrained and weighted least squares problems
AbstractWe derive perturbation bounds for the constrained and weighted linear least squares (LS) problems. Both the full rank and rank-deficient cases are considered. The analysis generalizes some results of earlier works
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