Lagrangian Relaxation and Partial Cover

Lagrangian relaxation has been used extensively in the design of approximation algorithms. This paper studies its strengths and limitations when applied to Partial Cover.Comment: 20 pages, extended abstract appeared in STACS 200

Matricial Model for the Study of Lower Bounds

Let V be an array. The range query problem concerns the design of data structures for implementing the following operations. The operation update(j,x) has the effect vj ← vj + x, and the query operation retrieve(i,j) returns the partial sum vi + ... + vj. These tasks are to be performed on-line. We define an algebraic model – based on the use of matrices – for the study of the problem. In this paper we establish as well a lower bound for the sum of the average complexity of both kinds of operations, and demonstrate that this lower bound is near optimal – in terms of asymptotic complexity

Incremental Sampling-based Algorithms for Optimal Motion Planning

During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic completeness. However, no theoretical bounds on the quality of the solution obtained by these algorithms have been established so far. The first contribution of this paper is a negative result: it is proven that, under mild technical conditions, the cost of the best path in the RRT converges almost surely to a non-optimal value. Second, a new algorithm is considered, called the Rapidly-exploring Random Graph (RRG), and it is shown that the cost of the best path in the RRG converges to the optimum almost surely. Third, a tree version of RRG is introduced, called the RRT$^*$ algorithm, which preserves the asymptotic optimality of RRG while maintaining a tree structure like RRT. The analysis of the new algorithms hinges on novel connections between sampling-based motion planning algorithms and the theory of random geometric graphs. In terms of computational complexity, it is shown that the number of simple operations required by both the RRG and RRT$^*$ algorithms is asymptotically within a constant factor of that required by RRT.Comment: 20 pages, 10 figures, this manuscript is submitted to the International Journal of Robotics Research, a short version is to appear at the 2010 Robotics: Science and Systems Conference