Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs

In this paper, we present Batch Informed Trees (BIT*), a planning algorithm based on unifying graph- and sampling-based planning techniques. By recognizing that a set of samples describes an implicit random geometric graph (RGG), we are able to combine the efficient ordered nature of graph-based techniques, such as A*, with the anytime scalability of sampling-based algorithms, such as Rapidly-exploring Random Trees (RRT). BIT* uses a heuristic to efficiently search a series of increasingly dense implicit RGGs while reusing previous information. It can be viewed as an extension of incremental graph-search techniques, such as Lifelong Planning A* (LPA*), to continuous problem domains as well as a generalization of existing sampling-based optimal planners. It is shown that it is probabilistically complete and asymptotically optimal. We demonstrate the utility of BIT* on simulated random worlds in $\mathbb{R}^2$ and $\mathbb{R}^8$ and manipulation problems on CMU's HERB, a 14-DOF two-armed robot. On these problems, BIT* finds better solutions faster than RRT, RRT*, Informed RRT*, and Fast Marching Trees (FMT*) with faster anytime convergence towards the optimum, especially in high dimensions.Comment: 8 Pages. 6 Figures. Video available at http://www.youtube.com/watch?v=TQIoCC48gp

On Counting Triangles through Edge Sampling in Large Dynamic Graphs

Traditional frameworks for dynamic graphs have relied on processing only the stream of edges added into or deleted from an evolving graph, but not any additional related information such as the degrees or neighbor lists of nodes incident to the edges. In this paper, we propose a new edge sampling framework for big-graph analytics in dynamic graphs which enhances the traditional model by enabling the use of additional related information. To demonstrate the advantages of this framework, we present a new sampling algorithm, called Edge Sample and Discard (ESD). It generates an unbiased estimate of the total number of triangles, which can be continuously updated in response to both edge additions and deletions. We provide a comparative analysis of the performance of ESD against two current state-of-the-art algorithms in terms of accuracy and complexity. The results of the experiments performed on real graphs show that, with the help of the neighborhood information of the sampled edges, the accuracy achieved by our algorithm is substantially better. We also characterize the impact of properties of the graph on the performance of our algorithm by testing on several Barabasi-Albert graphs.Comment: A short version of this article appeared in Proceedings of the 2017 IEEE/ACM International Conference on Advances in Social Networks Analysis and Mining (ASONAM 2017

Desirable properties for XML update mechanisms

The adoption of XML as the default data interchange format and the standardisation of the XPath and XQuery languages has resulted in significant research in the development and implementation of XML databases capable of processing queries efficiently. The ever-increasing deployment of XML in industry and the real-world requirement to support efficient updates to XML documents has more recently prompted research in dynamic XML labelling schemes. In this paper, we provide an overview of the recent research in dynamic XML labelling schemes. Our motivation is to define a set of properties that represent a more holistic dynamic labelling scheme and present our findings through an evaluation matrix for most of the existing schemes that provide update functionality

Online Sorting via Searching and Selection

In this paper, we present a framework based on a simple data structure and parameterized algorithms for the problems of finding items in an unsorted list of linearly ordered items based on their rank (selection) or value (search). As a side-effect of answering these online selection and search queries, we progressively sort the list. Our algorithms are based on Hoare's Quickselect, and are parameterized based on the pivot selection method. For example, if we choose the pivot as the last item in a subinterval, our framework yields algorithms that will answer q<=n unique selection and/or search queries in a total of O(n log q) average time. After q=\Omega(n) queries the list is sorted. Each repeated selection query takes constant time, and each repeated search query takes O(log n) time. The two query types can be interleaved freely. By plugging different pivot selection methods into our framework, these results can, for example, become randomized expected time or deterministic worst-case time. Our methods are easy to implement, and we show they perform well in practice

Batch Informed Trees (BIT*): Informed Asymptotically Optimal Anytime Search

Path planning in robotics often requires finding high-quality solutions to continuously valued and/or high-dimensional problems. These problems are challenging and most planning algorithms instead solve simplified approximations. Popular approximations include graphs and random samples, as respectively used by informed graph-based searches and anytime sampling-based planners. Informed graph-based searches, such as A*, traditionally use heuristics to search a priori graphs in order of potential solution quality. This makes their search efficient but leaves their performance dependent on the chosen approximation. If its resolution is too low then they may not find a (suitable) solution but if it is too high then they may take a prohibitively long time to do so. Anytime sampling-based planners, such as RRT*, traditionally use random sampling to approximate the problem domain incrementally. This allows them to increase resolution until a suitable solution is found but makes their search dependent on the order of approximation. Arbitrary sequences of random samples approximate the problem domain in every direction simultaneously and but may be prohibitively inefficient at containing a solution. This paper unifies and extends these two approaches to develop Batch Informed Trees (BIT*), an informed, anytime sampling-based planner. BIT* solves continuous path planning problems efficiently by using sampling and heuristics to alternately approximate and search the problem domain. Its search is ordered by potential solution quality, as in A*, and its approximation improves indefinitely with additional computational time, as in RRT*. It is shown analytically to be almost-surely asymptotically optimal and experimentally to outperform existing sampling-based planners, especially on high-dimensional planning problems.Comment: International Journal of Robotics Research (IJRR). 32 Pages. 16 Figure

Efficient Approach for OS-CFAR 2D Technique Using Distributive Histograms and Breakdown Point Optimal Concept applied to Acoustic Images

In this work, a new approach to improve the algorithmic efficiency of the Order Statistic-Constant False Alarm Rate (OS-CFAR) applied in two dimensions (2D) is presented. OS-CFAR is widely used in radar technology for detecting moving objects as well as in sonar technology for the relevant areas of segmentation and multi-target detection on the seafloor. OS-CFAR rank orders the samples obtained from a sliding window around a test cell to select a representative sample that is used to calculate an adaptive detection threshold maintaining a false alarm probability. Then, the test cell is evaluated to determine the presence or absence of a target based on the calculated threshold. The rank orders allows that OS-CFAR technique to be more robust in multi-target situations and less sensitive than other methods to the presence of the speckle noise, but requires higher computational effort. This is the bottleneck of the technique. Consequently, the contribution of this work is to improve the OS-CFAR 2D with the distributive histograms and the optimal breakdown point optimal concept, mainly from the standpoint of efficient computation. In this way, the OS-CFAR 2D on-line computation was improved, by means of speeding up the samples sorting problem through the improvement in the calculus of the statistics order. The theoretical algorithm analysis is presented to demonstrate the improvement of this approach. Also, this novel efficient OS-CFAR 2D was contrasted experimentally on acoustic images.Fil: Villar, Sebastian Aldo. Universidad Nacional del Centro de la Provincia de Buenos Aires. Centro de Investigaciones en Física e Ingeniería del Centro de la Provincia de Buenos Aires. - Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tandil. Centro de Investigaciones en Física e Ingeniería del Centro de la Provincia de Buenos Aires. - Provincia de Buenos Aires. Gobernación. Comisión de Investigaciones Científicas. Centro de Investigaciones en Física e Ingeniería del Centro de la Provincia de Buenos Aires; Argentina. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ingeniería Olavarría. Departamento de Electromecánica. Grupo INTELYMEC; ArgentinaFil: Menna, Bruno Victorio. Universidad Nacional del Centro de la Provincia de Buenos Aires. Centro de Investigaciones en Física e Ingeniería del Centro de la Provincia de Buenos Aires. - Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tandil. Centro de Investigaciones en Física e Ingeniería del Centro de la Provincia de Buenos Aires. - Provincia de Buenos Aires. Gobernación. Comisión de Investigaciones Científicas. Centro de Investigaciones en Física e Ingeniería del Centro de la Provincia de Buenos Aires; Argentina. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ingeniería Olavarría. Departamento de Electromecánica. Grupo INTELYMEC; ArgentinaFil: Torcida, Sebastián. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ciencias Exactas. Departamento de Matemática; ArgentinaFil: Acosta, Gerardo Gabriel. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ingeniería Olavarría. Departamento de Electromecánica. Grupo INTELYMEC; Argentina. Universidad Nacional del Centro de la Provincia de Buenos Aires. Centro de Investigaciones en Física e Ingeniería del Centro de la Provincia de Buenos Aires. - Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tandil. Centro de Investigaciones en Física e Ingeniería del Centro de la Provincia de Buenos Aires. - Provincia de Buenos Aires. Gobernación. Comisión de Investigaciones Científicas. Centro de Investigaciones en Física e Ingeniería del Centro de la Provincia de Buenos Aires; Argentin

A Unified approach to concurrent and parallel algorithms on balanced data structures

Concurrent and parallel algorithms are different. However, in the case of dictionaries, both kinds of algorithms share many common points. We present a unified approach emphasizing these points. It is based on a careful analysis of the sequential algorithm, extracting from it the more basic facts, encapsulated later on as local rules. We apply the method to the insertion algorithms in AVL trees. All the concurrent and parallel insertion algorithms have two main phases. A percolation phase, moving the keys to be inserted down, and a rebalancing phase. Finally, some other algorithms and balanced structures are discussed.Postprint (published version