Collaborative search on the plane without communication

We generalize the classical cow-path problem [7, 14, 38, 39] into a question that is relevant for collective foraging in animal groups. Specifically, we consider a setting in which k identical (probabilistic) agents, initially placed at some central location, collectively search for a treasure in the two-dimensional plane. The treasure is placed at a target location by an adversary and the goal is to find it as fast as possible as a function of both k and D, where D is the distance between the central location and the target. This is biologically motivated by cooperative, central place foraging such as performed by ants around their nest. In this type of search there is a strong preference to locate nearby food sources before those that are further away. Our focus is on trying to find what can be achieved if communication is limited or altogether absent. Indeed, to avoid overlaps agents must be highly dispersed making communication difficult. Furthermore, if agents do not commence the search in synchrony then even initial communication is problematic. This holds, in particular, with respect to the question of whether the agents can communicate and conclude their total number, k. It turns out that the knowledge of k by the individual agents is crucial for performance. Indeed, it is a straightforward observation that the time required for finding the treasure is $\Omega$(D + D 2 /k), and we show in this paper that this bound can be matched if the agents have knowledge of k up to some constant approximation. We present an almost tight bound for the competitive penalty that must be paid, in the running time, if agents have no information about k. Specifically, on the negative side, we show that in such a case, there is no algorithm whose competitiveness is O(log k). On the other hand, we show that for every constant \epsilon \textgreater{} 0, there exists a rather simple uniform search algorithm which is $O( \log^{1+\epsilon} k)$-competitive. In addition, we give a lower bound for the setting in which agents are given some estimation of k. As a special case, this lower bound implies that for any constant \epsilon \textgreater{} 0, if each agent is given a (one-sided) $k^\epsilon$-approximation to k, then the competitiveness is $\Omega$(log k). Informally, our results imply that the agents can potentially perform well without any knowledge of their total number k, however, to further improve, they must be given a relatively good approximation of k. Finally, we propose a uniform algorithm that is both efficient and extremely simple suggesting its relevance for actual biological scenarios

Online Searching with an Autonomous Robot

We discuss online strategies for visibility-based searching for an object hidden behind a corner, using Kurt3D, a real autonomous mobile robot. This task is closely related to a number of well-studied problems. Our robot uses a three-dimensional laser scanner in a stop, scan, plan, go fashion for building a virtual three-dimensional environment. Besides planning trajectories and avoiding obstacles, Kurt3D is capable of identifying objects like a chair. We derive a practically useful and asymptotically optimal strategy that guarantees a competitive ratio of 2, which differs remarkably from the well-studied scenario without the need of stopping for surveying the environment. Our strategy is used by Kurt3D, documented in a separate video.Comment: 16 pages, 8 figures, 12 photographs, 1 table, Latex, submitted for publicatio

Searches for radio transients

Exploration of the transient Universe is an exciting and fast-emerging area within radio astronomy. Known transient phenomena range in time scales from sub-nanoseconds to years or longer, thus spanning a huge range in time domain and hinting a rich diversity in their underlying physical processes. Transient phenomena are likely locations of explosive or dynamic events and they offer tremendous potential to uncover new physics and astrophysics. A number of upcoming next-generation radio facilities and recent advances in computing and instrumentation have provided a much needed impetus for this field which has remained a relatively uncharted territory for the past several decades. In this paper we focus mainly on the class of phenomena that occur on very short time scales (i.e. from $\sim$ milliseconds to $\sim$ nanoseconds), known as {\it fast transients}, the detections of which involve considerable signal processing and data management challenges, given the high time and frequency resolutions required in their explorations, the role of propagation effects to be considered and a multitude of deleterious effects due to radio frequency interference. We will describe the techniques, strategies and challenges involved in their detections and review the world-wide efforts currently under way, both through scientific discoveries enabled by the ongoing large-scale surveys at Parkes and Arecibo, as well as technical developments involving the exploratory use of multi-element array instruments such as VLBA and GMRT. Such developments will undoubtedly provide valuable inputs as next-generation arrays such as LOFAR and ASKAP are designed and commissioned. With their wider fields of view and higher sensitivities, these instruments, and eventually the SKA, hold great potential to revolutionise this relatively nascent field, thereby opening up exciting new science avenues in astrophysics.Comment: To appear in the special issue of the Bulletin of the Astronomical Society of India on Transients at different wavelengths, eds D.J. Saikia and D.A. Green. 21 pages, 5 figures. http://www.ncra.tifr.res.in/~bas

3D environment mapping using the Kinect V2 and path planning based on RRT algorithms

This paper describes a 3D path planning system that is able to provide a solution trajectory for the automatic control of a robot. The proposed system uses a point cloud obtained from the robot workspace, with a Kinect V2 sensor to identify the interest regions and the obstacles of the environment. Our proposal includes a collision-free path planner based on the Rapidly-exploring Random Trees variant (RRT*), for a safe and optimal navigation of robots in 3D spaces. Results on RGB-D segmentation and recognition, point cloud processing, and comparisons between different RRT* algorithms, are presented.Peer ReviewedPostprint (published version

Data Management and Mining in Astrophysical Databases

We analyse the issues involved in the management and mining of astrophysical data. The traditional approach to data management in the astrophysical field is not able to keep up with the increasing size of the data gathered by modern detectors. An essential role in the astrophysical research will be assumed by automatic tools for information extraction from large datasets, i.e. data mining techniques, such as clustering and classification algorithms. This asks for an approach to data management based on data warehousing, emphasizing the efficiency and simplicity of data access; efficiency is obtained using multidimensional access methods and simplicity is achieved by properly handling metadata. Clustering and classification techniques, on large datasets, pose additional requirements: computational and memory scalability with respect to the data size, interpretability and objectivity of clustering or classification results. In this study we address some possible solutions.Comment: 10 pages, Late