Unification and Logarithmic Space

We present an algebraic characterization of the complexity classes Logspace and NLogspace, using an algebra with a composition law based on unification. This new bridge between unification and complexity classes is inspired from proof theory and more specifically linear logic and Geometry of Interaction. We show how unification can be used to build a model of computation by means of specific subalgebras associated to finite permutations groups. We then prove that whether an observation (the algebraic counterpart of a program) accepts a word can be decided within logarithmic space. We also show that the construction can naturally represent pointer machines, an intuitive way of understanding logarithmic space computing

Multi-Head Finite Automata: Characterizations, Concepts and Open Problems

Multi-head finite automata were introduced in (Rabin, 1964) and (Rosenberg, 1966). Since that time, a vast literature on computational and descriptional complexity issues on multi-head finite automata documenting the importance of these devices has been developed. Although multi-head finite automata are a simple concept, their computational behavior can be already very complex and leads to undecidable or even non-semi-decidable problems on these devices such as, for example, emptiness, finiteness, universality, equivalence, etc. These strong negative results trigger the study of subclasses and alternative characterizations of multi-head finite automata for a better understanding of the nature of non-recursive trade-offs and, thus, the borderline between decidable and undecidable problems. In the present paper, we tour a fragment of this literature

ViWiD: Leveraging WiFi for Robust and Resource-Efficient SLAM

Recent interest towards autonomous navigation and exploration robots for indoor applications has spurred research into indoor Simultaneous Localization and Mapping (SLAM) robot systems. While most of these SLAM systems use Visual and LiDAR sensors in tandem with an odometry sensor, these odometry sensors drift over time. To combat this drift, Visual SLAM systems deploy compute and memory intensive search algorithms to detect `Loop Closures', which make the trajectory estimate globally consistent. To circumvent these resource (compute and memory) intensive algorithms, we present ViWiD, which integrates WiFi and Visual sensors in a dual-layered system. This dual-layered approach separates the tasks of local and global trajectory estimation making ViWiD resource efficient while achieving on-par or better performance to state-of-the-art Visual SLAM. We demonstrate ViWiD's performance on four datasets, covering over 1500 m of traversed path and show 4.3x and 4x reduction in compute and memory consumption respectively compared to state-of-the-art Visual and Lidar SLAM systems with on par SLAM performance

Finite state verifiers with constant randomness

We give a new characterization of $\mathsf{NL}$ as the class of languages whose members have certificates that can be verified with small error in polynomial time by finite state machines that use a constant number of random bits, as opposed to its conventional description in terms of deterministic logarithmic-space verifiers. It turns out that allowing two-way interaction with the prover does not change the class of verifiable languages, and that no polynomially bounded amount of randomness is useful for constant-memory computers when used as language recognizers, or public-coin verifiers. A corollary of our main result is that the class of outcome problems corresponding to O(log n)-space bounded games of incomplete information where the universal player is allowed a constant number of moves equals NL.Comment: 17 pages. An improved versio

Memoization for Unary Logic Programming: Characterizing PTIME

We give a characterization of deterministic polynomial time computation based on an algebraic structure called the resolution semiring, whose elements can be understood as logic programs or sets of rewriting rules over first-order terms. More precisely, we study the restriction of this framework to terms (and logic programs, rewriting rules) using only unary symbols. We prove it is complete for polynomial time computation, using an encoding of pushdown automata. We then introduce an algebraic counterpart of the memoization technique in order to show its PTIME soundness. We finally relate our approach and complexity results to complexity of logic programming. As an application of our techniques, we show a PTIME-completeness result for a class of logic programming queries which use only unary function symbols.Comment: Soumis {\`a} LICS 201

An Expressive Language and Efficient Execution System for Software Agents

Software agents can be used to automate many of the tedious, time-consuming information processing tasks that humans currently have to complete manually. However, to do so, agent plans must be capable of representing the myriad of actions and control flows required to perform those tasks. In addition, since these tasks can require integrating multiple sources of remote information ? typically, a slow, I/O-bound process ? it is desirable to make execution as efficient as possible. To address both of these needs, we present a flexible software agent plan language and a highly parallel execution system that enable the efficient execution of expressive agent plans. The plan language allows complex tasks to be more easily expressed by providing a variety of operators for flexibly processing the data as well as supporting subplans (for modularity) and recursion (for indeterminate looping). The executor is based on a streaming dataflow model of execution to maximize the amount of operator and data parallelism possible at runtime. We have implemented both the language and executor in a system called THESEUS. Our results from testing THESEUS show that streaming dataflow execution can yield significant speedups over both traditional serial (von Neumann) as well as non-streaming dataflow-style execution that existing software and robot agent execution systems currently support. In addition, we show how plans written in the language we present can represent certain types of subtasks that cannot be accomplished using the languages supported by network query engines. Finally, we demonstrate that the increased expressivity of our plan language does not hamper performance; specifically, we show how data can be integrated from multiple remote sources just as efficiently using our architecture as is possible with a state-of-the-art streaming-dataflow network query engine

Enhancements to the Timing Simulator of the Enhanced Modular Signal Processor

Computing and Information Science