The Best Mixing Time for Random Walks on Trees

We characterize the extremal structures for mixing walks on trees that start from the most advantageous vertex. Let $G=(V,E)$ be a tree with stationary distribution $\pi$. For a vertex $v \in V$, let $H(v,\pi)$ denote the expected length of an optimal stopping rule from $v$ to $\pi$. The \emph{best mixing time} for $G$ is $\min_{v \in V} H(v,\pi)$. We show that among all trees with $|V|=n$, the best mixing time is minimized uniquely by the star. For even $n$, the best mixing time is maximized by the uniquely path. Surprising, for odd $n$, the best mixing time is maximized uniquely by a path of length $n-1$ with a single leaf adjacent to one central vertex.Comment: 25 pages, 7 figures, 3 table

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

Influence maximization on families of graphs

We examine computing the maximum expected influence on paths and trees using the independent cascade model. We designed a polynomial time method for determining the expected influence from any initial state on the independent cascade model on acyclic influence graphs in O(|V(G)|² · max {|V(G)|,|V(E)|}) time. We designed a polynomial time program that would computes the maximum expected influence and optimal initially selected nodes on arbitrary paths in O(|V(T)|⁶/[epsilon]) on approximating the maximum expected influence on arbitrary trees with absolute error of at most ([epsilon] · 2|V(T)|)

On the Complexity of Searching in Trees: Average-case Minimization

We focus on the average-case analysis: A function w : V -> Z+ is given which defines the likelihood for a node to be the one marked, and we want the strategy that minimizes the expected number of queries. Prior to this paper, very little was known about this natural question and the complexity of the problem had remained so far an open question. We close this question and prove that the above tree search problem is NP-complete even for the class of trees with diameter at most 4. This results in a complete characterization of the complexity of the problem with respect to the diameter size. In fact, for diameter not larger than 3 the problem can be shown to be polynomially solvable using a dynamic programming approach. In addition we prove that the problem is NP-complete even for the class of trees of maximum degree at most 16. To the best of our knowledge, the only known result in this direction is that the tree search problem is solvable in O(|V| log|V|) time for trees with degree at most 2 (paths). We match the above complexity results with a tight algorithmic analysis. We first show that a natural greedy algorithm attains a 2-approximation. Furthermore, for the bounded degree instances, we show that any optimal strategy (i.e., one that minimizes the expected number of queries) performs at most O(\Delta(T) (log |V| + log w(T))) queries in the worst case, where w(T) is the sum of the likelihoods of the nodes of T and \Delta(T) is the maximum degree of T. We combine this result with a non-trivial exponential time algorithm to provide an FPTAS for trees with bounded degree

The cavity approach for Steiner trees packing problems

The Belief Propagation approximation, or cavity method, has been recently applied to several combinatorial optimization problems in its zero-temperature implementation, the max-sum algorithm. In particular, recent developments to solve the edge-disjoint paths problem and the prize-collecting Steiner tree problem on graphs have shown remarkable results for several classes of graphs and for benchmark instances. Here we propose a generalization of these techniques for two variants of the Steiner trees packing problem where multiple "interacting" trees have to be sought within a given graph. Depending on the interaction among trees we distinguish the vertex-disjoint Steiner trees problem, where trees cannot share nodes, from the edge-disjoint Steiner trees problem, where edges cannot be shared by trees but nodes can be members of multiple trees. Several practical problems of huge interest in network design can be mapped into these two variants, for instance, the physical design of Very Large Scale Integration (VLSI) chips. The formalism described here relies on two components edge-variables that allows us to formulate a massage-passing algorithm for the V-DStP and two algorithms for the E-DStP differing in the scaling of the computational time with respect to some relevant parameters. We will show that one of the two formalisms used for the edge-disjoint variant allow us to map the max-sum update equations into a weighted maximum matching problem over proper bipartite graphs. We developed a heuristic procedure based on the max-sum equations that shows excellent performance in synthetic networks (in particular outperforming standard multi-step greedy procedures by large margins) and on large benchmark instances of VLSI for which the optimal solution is known, on which the algorithm found the optimum in two cases and the gap to optimality was never larger than 4 %

Efficient Enumeration of Induced Subtrees in a K-Degenerate Graph

In this paper, we address the problem of enumerating all induced subtrees in an input k-degenerate graph, where an induced subtree is an acyclic and connected induced subgraph. A graph G = (V, E) is a k-degenerate graph if for any its induced subgraph has a vertex whose degree is less than or equal to k, and many real-world graphs have small degeneracies, or very close to small degeneracies. Although, the studies are on subgraphs enumeration, such as trees, paths, and matchings, but the problem addresses the subgraph enumeration, such as enumeration of subgraphs that are trees. Their induced subgraph versions have not been studied well. One of few example is for chordless paths and cycles. Our motivation is to reduce the time complexity close to O(1) for each solution. This type of optimal algorithms are proposed many subgraph classes such as trees, and spanning trees. Induced subtrees are fundamental object thus it should be studied deeply and there possibly exist some efficient algorithms. Our algorithm utilizes nice properties of k-degeneracy to state an effective amortized analysis. As a result, the time complexity is reduced to O(k) time per induced subtree. The problem is solved in constant time for each in planar graphs, as a corollary

Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic

Rapidly-exploring random trees (RRTs) are popular in motion planning because they find solutions efficiently to single-query problems. Optimal RRTs (RRT*s) extend RRTs to the problem of finding the optimal solution, but in doing so asymptotically find the optimal path from the initial state to every state in the planning domain. This behaviour is not only inefficient but also inconsistent with their single-query nature. For problems seeking to minimize path length, the subset of states that can improve a solution can be described by a prolate hyperspheroid. We show that unless this subset is sampled directly, the probability of improving a solution becomes arbitrarily small in large worlds or high state dimensions. In this paper, we present an exact method to focus the search by directly sampling this subset. The advantages of the presented sampling technique are demonstrated with a new algorithm, Informed RRT*. This method retains the same probabilistic guarantees on completeness and optimality as RRT* while improving the convergence rate and final solution quality. We present the algorithm as a simple modification to RRT* that could be further extended by more advanced path-planning algorithms. We show experimentally that it outperforms RRT* in rate of convergence, final solution cost, and ability to find difficult passages while demonstrating less dependence on the state dimension and range of the planning problem.Comment: 8 pages, 11 figures. Videos available at https://www.youtube.com/watch?v=d7dX5MvDYTc and https://www.youtube.com/watch?v=nsl-5MZfwu