A repertoire for additive functionals of uniformly distributed m-ary search trees

Using recent results on singularity analysis for Hadamard products of generating functions, we obtain the limiting distributions for additive functionals on $m$-ary search trees on $n$ keys with toll sequence (i) $n^\alpha$ with $\alpha \geq 0$ ($\alpha=0$ and $\alpha=1$ correspond roughly to the space requirement and total path length, respectively); (ii) $\ln \binom{n}{m-1}$, which corresponds to the so-called shape functional; and (iii) $\mathbf{1}_{n=m-1}$, which corresponds to the number of leaves.Comment: 26 pages; v2 expands on the introduction by comparing the results with other probability model

Transfer Theorems and Asymptotic Distributional Results for m-ary Search Trees

We derive asymptotics of moments and identify limiting distributions, under the random permutation model on m-ary search trees, for functionals that satisfy recurrence relations of a simple additive form. Many important functionals including the space requirement, internal path length, and the so-called shape functional fall under this framework. The approach is based on establishing transfer theorems that link the order of growth of the input into a particular (deterministic) recurrence to the order of growth of the output. The transfer theorems are used in conjunction with the method of moments to establish limit laws. It is shown that (i) for small toll sequences $(t_n)$ [roughly, $t_n =O(n^{1 / 2})$] we have asymptotic normality if $m \leq 26$ and typically periodic behavior if $m \geq 27$; (ii) for moderate toll sequences [roughly, $t_n = \omega(n^{1 / 2})$ but $t_n = o(n)$] we have convergence to non-normal distributions if $m \leq m_0$ (where $m_0 \geq 26$) and typically periodic behavior if $m \geq m_0 + 1$; and (iii) for large toll sequences [roughly, $t_n = \omega(n)$] we have convergence to non-normal distributions for all values of m.Comment: 35 pages, 1 figure. Version 2 consists of expansion and rearragement of the introductory material to aid exposition and the shortening of Appendices A and B.

Search and Rescue under the Forest Canopy using Multiple UAVs

We present a multi-robot system for GPS-denied search and rescue under the forest canopy. Forests are particularly challenging environments for collaborative exploration and mapping, in large part due to the existence of severe perceptual aliasing which hinders reliable loop closure detection for mutual localization and map fusion. Our proposed system features unmanned aerial vehicles (UAVs) that perform onboard sensing, estimation, and planning. When communication is available, each UAV transmits compressed tree-based submaps to a central ground station for collaborative simultaneous localization and mapping (CSLAM). To overcome high measurement noise and perceptual aliasing, we use the local configuration of a group of trees as a distinctive feature for robust loop closure detection. Furthermore, we propose a novel procedure based on cycle consistent multiway matching to recover from incorrect pairwise data associations. The returned global data association is guaranteed to be cycle consistent, and is shown to improve both precision and recall compared to the input pairwise associations. The proposed multi-UAV system is validated both in simulation and during real-world collaborative exploration missions at NASA Langley Research Center.Comment: IJRR revisio

Engineering Parallel String Sorting

We discuss how string sorting algorithms can be parallelized on modern multi-core shared memory machines. As a synthesis of the best sequential string sorting algorithms and successful parallel sorting algorithms for atomic objects, we first propose string sample sort. The algorithm makes effective use of the memory hierarchy, uses additional word level parallelism, and largely avoids branch mispredictions. Then we focus on NUMA architectures, and develop parallel multiway LCP-merge and -mergesort to reduce the number of random memory accesses to remote nodes. Additionally, we parallelize variants of multikey quicksort and radix sort that are also useful in certain situations. Comprehensive experiments on five current multi-core platforms are then reported and discussed. The experiments show that our implementations scale very well on real-world inputs and modern machines.Comment: 46 pages, extension of "Parallel String Sample Sort" arXiv:1305.115

Scalable String and Suffix Sorting: Algorithms, Techniques, and Tools

This dissertation focuses on two fundamental sorting problems: string sorting and suffix sorting. The first part considers parallel string sorting on shared-memory multi-core machines, the second part external memory suffix sorting using the induced sorting principle, and the third part distributed external memory suffix sorting with a new distributed algorithmic big data framework named Thrill.Comment: 396 pages, dissertation, Karlsruher Instituts f\"ur Technologie (2018). arXiv admin note: text overlap with arXiv:1101.3448 by other author