The stability of a graph partition: A dynamics-based framework for community detection

Recent years have seen a surge of interest in the analysis of complex networks, facilitated by the availability of relational data and the increasingly powerful computational resources that can be employed for their analysis. Naturally, the study of real-world systems leads to highly complex networks and a current challenge is to extract intelligible, simplified descriptions from the network in terms of relevant subgraphs, which can provide insight into the structure and function of the overall system. Sparked by seminal work by Newman and Girvan, an interesting line of research has been devoted to investigating modular community structure in networks, revitalising the classic problem of graph partitioning. However, modular or community structure in networks has notoriously evaded rigorous definition. The most accepted notion of community is perhaps that of a group of elements which exhibit a stronger level of interaction within themselves than with the elements outside the community. This concept has resulted in a plethora of computational methods and heuristics for community detection. Nevertheless a firm theoretical understanding of most of these methods, in terms of how they operate and what they are supposed to detect, is still lacking to date. Here, we will develop a dynamical perspective towards community detection enabling us to define a measure named the stability of a graph partition. It will be shown that a number of previously ad-hoc defined heuristics for community detection can be seen as particular cases of our method providing us with a dynamic reinterpretation of those measures. Our dynamics-based approach thus serves as a unifying framework to gain a deeper understanding of different aspects and problems associated with community detection and allows us to propose new dynamically-inspired criteria for community structure.Comment: 3 figures; published as book chapte

Intrinsically Dynamic Network Communities

Community finding algorithms for networks have recently been extended to dynamic data. Most of these recent methods aim at exhibiting community partitions from successive graph snapshots and thereafter connecting or smoothing these partitions using clever time-dependent features and sampling techniques. These approaches are nonetheless achieving longitudinal rather than dynamic community detection. We assume that communities are fundamentally defined by the repetition of interactions among a set of nodes over time. According to this definition, analyzing the data by considering successive snapshots induces a significant loss of information: we suggest that it blurs essentially dynamic phenomena - such as communities based on repeated inter-temporal interactions, nodes switching from a community to another across time, or the possibility that a community survives while its members are being integrally replaced over a longer time period. We propose a formalism which aims at tackling this issue in the context of time-directed datasets (such as citation networks), and present several illustrations on both empirical and synthetic dynamic networks. We eventually introduce intrinsically dynamic metrics to qualify temporal community structure and emphasize their possible role as an estimator of the quality of the community detection - taking into account the fact that various empirical contexts may call for distinct `community' definitions and detection criteria.Comment: 27 pages, 11 figure

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Measuring robustness of community structure in complex networks

The theory of community structure is a powerful tool for real networks, which can simplify their topological and functional analysis considerably. However, since community detection methods have random factors and real social networks obtained from complex systems always contain error edges, evaluating the robustness of community structure is an urgent and important task. In this letter, we employ the critical threshold of resolution parameter in Hamiltonian function, $\gamma_C$, to measure the robustness of a network. According to spectral theory, a rigorous proof shows that the index we proposed is inversely proportional to robustness of community structure. Furthermore, by utilizing the co-evolution model, we provides a new efficient method for computing the value of $\gamma_C$. The research can be applied to broad clustering problems in network analysis and data mining due to its solid mathematical basis and experimental effects.Comment: 6 pages, 4 figures. arXiv admin note: text overlap with arXiv:1303.7434 by other author