Probabilistic Properties of Highly Connected Random Geometric Graphs

In this paper we study the probabilistic properties of reliable networks of minimal total edge lengths. We study reliability in terms of k-edge-connectivity in graphs in d-dimensional space. We show this problem fits into Yukich’s framework for Euclidean functionals for arbitrary k, dimension d and distant-power gradient p, with p < d. With this framework several theorems on the convergence of optimal solutions follow. We apply Yukich’s framework for functionals so that we can use partitioning algorithms that rapidly compute near-optimal solutions on typical examples. These results are then extended to optimal k-edge-connected power assignment graphs, where we assign power to vertices and charge per vertex. The network can be modelled as a wireless network

Sampling-based Algorithms for Optimal Motion Planning

During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However, little effort has been devoted to the formal analysis of the quality of the solution returned by such algorithms, e.g., as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms as the number of samples increases. A number of negative results are provided, characterizing existing algorithms, e.g., showing that, under mild technical conditions, the cost of the solution returned by broadly used sampling-based algorithms converges almost surely to a non-optimal value. The main contribution of the paper is the introduction of new algorithms, namely, PRM* and RRT*, which are provably asymptotically optimal, i.e., such that the cost of the returned solution converges almost surely to the optimum. Moreover, it is shown that the computational complexity of the new algorithms is within a constant factor of that of their probabilistically complete (but not asymptotically optimal) counterparts. The analysis in this paper hinges on novel connections between stochastic sampling-based path planning algorithms and the theory of random geometric graphs.Comment: 76 pages, 26 figures, to appear in International Journal of Robotics Researc

(Quantum) Space-Time as a Statistical Geometry of Lumps in Random Networks

In the following we undertake to describe how macroscopic space-time (or rather, a microscopic protoform of it) is supposed to emerge as a superstructure of a web of lumps in a stochastic discrete network structure. As in preceding work (mentioned below), our analysis is based on the working philosophy that both physics and the corresponding mathematics have to be genuinely discrete on the primordial (Planck scale) level. This strategy is concretely implemented in the form of \tit{cellular networks} and \tit{random graphs}. One of our main themes is the development of the concept of \tit{physical (proto)points} or \tit{lumps} as densely entangled subcomplexes of the network and their respective web, establishing something like \tit{(proto)causality}. It may perhaps be said that certain parts of our programme are realisations of some early ideas of Menger and more recent ones sketched by Smolin a couple of years ago. We briefly indicate how this \tit{two-story-concept} of \tit{quantum} space-time can be used to encode the (at least in our view) existing non-local aspects of quantum theory without violating macroscopic space-time causality.Comment: 35 pages, Latex, under consideration by CQ

On the Distribution of Random Geometric Graphs

Random geometric graphs (RGGs) are commonly used to model networked systems that depend on the underlying spatial embedding. We concern ourselves with the probability distribution of an RGG, which is crucial for studying its random topology, properties (e.g., connectedness), or Shannon entropy as a measure of the graph's topological uncertainty (or information content). Moreover, the distribution is also relevant for determining average network performance or designing protocols. However, a major impediment in deducing the graph distribution is that it requires the joint probability distribution of the $n(n-1)/2$ distances between $n$ nodes randomly distributed in a bounded domain. As no such result exists in the literature, we make progress by obtaining the joint distribution of the distances between three nodes confined in a disk in $\mathbb{R}^2$. This enables the calculation of the probability distribution and entropy of a three-node graph. For arbitrary $n$, we derive a series of upper bounds on the graph entropy; in particular, the bound involving the entropy of a three-node graph is tighter than the existing bound which assumes distances are independent. Finally, we provide numerical results on graph connectedness and the tightness of the derived entropy bounds.Comment: submitted to the IEEE International Symposium on Information Theory 201

Random geometric complexes

We study the expected topological properties of Cech and Vietoris-Rips complexes built on i.i.d. random points in R^d. We find higher dimensional analogues of known results for connectivity and component counts for random geometric graphs. However, higher homology H_k is not monotone when k > 0. In particular for every k > 0 we exhibit two thresholds, one where homology passes from vanishing to nonvanishing, and another where it passes back to vanishing. We give asymptotic formulas for the expectation of the Betti numbers in the sparser regimes, and bounds in the denser regimes. The main technical contribution of the article is in the application of discrete Morse theory in geometric probability.Comment: 26 pages, 3 figures, final revisions, to appear in Discrete & Computational Geometr