Batch Informed Trees (BIT*): Informed Asymptotically Optimal Anytime Search

Path planning in robotics often requires finding high-quality solutions to continuously valued and/or high-dimensional problems. These problems are challenging and most planning algorithms instead solve simplified approximations. Popular approximations include graphs and random samples, as respectively used by informed graph-based searches and anytime sampling-based planners. Informed graph-based searches, such as A*, traditionally use heuristics to search a priori graphs in order of potential solution quality. This makes their search efficient but leaves their performance dependent on the chosen approximation. If its resolution is too low then they may not find a (suitable) solution but if it is too high then they may take a prohibitively long time to do so. Anytime sampling-based planners, such as RRT*, traditionally use random sampling to approximate the problem domain incrementally. This allows them to increase resolution until a suitable solution is found but makes their search dependent on the order of approximation. Arbitrary sequences of random samples approximate the problem domain in every direction simultaneously and but may be prohibitively inefficient at containing a solution. This paper unifies and extends these two approaches to develop Batch Informed Trees (BIT*), an informed, anytime sampling-based planner. BIT* solves continuous path planning problems efficiently by using sampling and heuristics to alternately approximate and search the problem domain. Its search is ordered by potential solution quality, as in A*, and its approximation improves indefinitely with additional computational time, as in RRT*. It is shown analytically to be almost-surely asymptotically optimal and experimentally to outperform existing sampling-based planners, especially on high-dimensional planning problems.Comment: International Journal of Robotics Research (IJRR). 32 Pages. 16 Figure

Ordinary Search Engine Users Carrying Out Complex Search Tasks

Web search engines have become the dominant tools for finding information on the Internet. Due to their popularity, users apply them to a wide range of search needs, from simple look-ups to rather complex information tasks. This paper presents the results of a study to investigate the characteristics of these complex information needs in the context of Web search engines. The aim of the study is to find out more about (1) what makes complex search tasks distinct from simple tasks and if it is possible to find simple measures for describing their complexity, (2) if search success for a task can be predicted by means of unique measures, and (3) if successful searchers show a different behavior than unsuccessful ones. The study includes 60 people who carried out a set of 12 search tasks with current commercial search engines. Their behavior was logged with the Search-Logger tool. The results confirm that complex tasks show significantly different characteristics than simple tasks. Yet it seems to be difficult to distinguish successful from unsuccessful search behaviors. Good searchers can be differentiated from bad searchers by means of measurable parameters. The implications of these findings for search engine vendors are discussed.Comment: 60 page

Dagstuhl Reports : Volume 1, Issue 2, February 2011

Online Privacy: Towards Informational Self-Determination on the Internet (Dagstuhl Perspectives Workshop 11061) : Simone Fischer-Hübner, Chris Hoofnagle, Kai Rannenberg, Michael Waidner, Ioannis Krontiris and Michael Marhöfer Self-Repairing Programs (Dagstuhl Seminar 11062) : Mauro Pezzé, Martin C. Rinard, Westley Weimer and Andreas Zeller Theory and Applications of Graph Searching Problems (Dagstuhl Seminar 11071) : Fedor V. Fomin, Pierre Fraigniaud, Stephan Kreutzer and Dimitrios M. Thilikos Combinatorial and Algorithmic Aspects of Sequence Processing (Dagstuhl Seminar 11081) : Maxime Crochemore, Lila Kari, Mehryar Mohri and Dirk Nowotka Packing and Scheduling Algorithms for Information and Communication Services (Dagstuhl Seminar 11091) Klaus Jansen, Claire Mathieu, Hadas Shachnai and Neal E. Youn

Prospects and limitations of full-text index structures in genome analysis

The combination of incessant advances in sequencing technology producing large amounts of data and innovative bioinformatics approaches, designed to cope with this data flood, has led to new interesting results in the life sciences. Given the magnitude of sequence data to be processed, many bioinformatics tools rely on efficient solutions to a variety of complex string problems. These solutions include fast heuristic algorithms and advanced data structures, generally referred to as index structures. Although the importance of index structures is generally known to the bioinformatics community, the design and potency of these data structures, as well as their properties and limitations, are less understood. Moreover, the last decade has seen a boom in the number of variant index structures featuring complex and diverse memory-time trade-offs. This article brings a comprehensive state-of-the-art overview of the most popular index structures and their recently developed variants. Their features, interrelationships, the trade-offs they impose, but also their practical limitations, are explained and compared