Minimum Path Cover: The Power of Parameterization

Computing a minimum path cover (MPC) of a directed acyclic graph (DAG) is a fundamental problem with a myriad of applications, including reachability. Although it is known how to solve the problem by a simple reduction to minimum flow, recent theoretical advances exploit this idea to obtain algorithms parameterized by the number of paths of an MPC, known as the width. These results obtain fast [M\"akinen et al., TALG] and even linear time [C\'aceres et al., SODA 2022] algorithms in the small-width regime. In this paper, we present the first publicly available high-performance implementation of state-of-the-art MPC algorithms, including the parameterized approaches. Our experiments on random DAGs show that parameterized algorithms are orders-of-magnitude faster on dense graphs. Additionally, we present new pre-processing heuristics based on transitive edge sparsification. We show that our heuristics improve MPC-solvers by orders-of-magnitude

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

Integrated multiple sequence alignment

Sammeth M. Integrated multiple sequence alignment. Bielefeld (Germany): Bielefeld University; 2005.The thesis presents enhancements for automated and manual multiple sequence alignment: existing alignment algorithms are made more easily accessible and new algorithms are designed for difficult cases. Firstly, we introduce the QAlign framework, a graphical user interface for multiple sequence alignment. It comprises several state-of-the-art algorithms and supports their parameters by convenient dialogs. An alignment viewer with guided editing functionality can also highlight or print regions of the alignment. Also phylogenetic features are provided, e.g., distance-based tree reconstruction methods, corrections for multiple substitutions and a tree viewer. The modular concept and the platform-independent implementation guarantee an easy extensibility. Further, we develop a constrained version of the divide-and-conquer alignment such that it can be restricted by anchors found earlier with local alignments. It can be shown that this method shares attributes of both, local and global aligners, in the quality of results as well as in the computation time. We further modify the local alignment step to work on bipartite (or even multipartite) sets for sequences where repeats overshadow valuable sequence information. In the end a technique is established that can accurately align sequences containing eventually repeated motifs. Finally, another algorithm is presented that allows to compare tandem repeat sequences by aligning them with respect to their possible repeat histories. We describe an evolutionary model including tandem duplications and excisions, and give an exact algorithm to compare two sequences under this model

Hammock:a hidden Markov model-based peptide clustering algorithm to identify protein-interaction consensus motifs in large datasets

Motivation: Proteins often recognize their interaction partners on the basis of short linear motifs located in disordered regions on proteins’ surface. Experimental techniques that study such motifs use short peptides to mimic the structural properties of interacting proteins. Continued development of these methods allows for large-scale screening, resulting in vast amounts of peptide sequences, potentially containing information on multiple protein-protein interactions. Processing of such datasets is a complex but essential task for large-scale studies investigating protein-protein interactions. Results: The software tool presented in this article is able to rapidly identify multiple clusters of sequences carrying shared specificity motifs in massive datasets from various sources and generate multiple sequence alignments of identified clusters. The method was applied on a previously published smaller dataset containing distinct classes of ligands for SH3 domains, as well as on a new, an order of magnitude larger dataset containing epitopes for several monoclonal antibodies. The software successfully identified clusters of sequences mimicking epitopes of antibody targets, as well as secondary clusters revealing that the antibodies accept some deviations from original epitope sequences. Another test indicates that processing of even much larger datasets is computationally feasible. Availability and implementation: Hammock is published under GNU GPL v. 3 license and is freely available as a standalone program (from http://www.recamo.cz/en/software/hammock-cluster-peptides/) or as a tool for the Galaxy toolbox (from https://toolshed.g2.bx.psu.edu/view/hammock/hammock). The source code can be downloaded from https://github.com/hammock-dev/hammock/releases. Contact: [email protected] Supplementary information: Supplementary data are available at Bioinformatics online