7,640 research outputs found
Topology-Guided Path Integral Approach for Stochastic Optimal Control in Cluttered Environment
This paper addresses planning and control of robot motion under uncertainty
that is formulated as a continuous-time, continuous-space stochastic optimal
control problem, by developing a topology-guided path integral control method.
The path integral control framework, which forms the backbone of the proposed
method, re-writes the Hamilton-Jacobi-Bellman equation as a statistical
inference problem; the resulting inference problem is solved by a sampling
procedure that computes the distribution of controlled trajectories around the
trajectory by the passive dynamics. For motion control of robots in a highly
cluttered environment, however, this sampling can easily be trapped in a local
minimum unless the sample size is very large, since the global optimality of
local minima depends on the degree of uncertainty. Thus, a homology-embedded
sampling-based planner that identifies many (potentially) local-minimum
trajectories in different homology classes is developed to aid the sampling
process. In combination with a receding-horizon fashion of the optimal control
the proposed method produces a dynamically feasible and collision-free motion
plans without being trapped in a local minimum. Numerical examples on a
synthetic toy problem and on quadrotor control in a complex obstacle field
demonstrate the validity of the proposed method.Comment: arXiv admin note: text overlap with arXiv:1510.0534
Discrete Elastic Inner Vector Spaces with Application in Time Series and Sequence Mining
This paper proposes a framework dedicated to the construction of what we call
discrete elastic inner product allowing one to embed sets of non-uniformly
sampled multivariate time series or sequences of varying lengths into inner
product space structures. This framework is based on a recursive definition
that covers the case of multiple embedded time elastic dimensions. We prove
that such inner products exist in our general framework and show how a simple
instance of this inner product class operates on some prospective applications,
while generalizing the Euclidean inner product. Classification experimentations
on time series and symbolic sequences datasets demonstrate the benefits that we
can expect by embedding time series or sequences into elastic inner spaces
rather than into classical Euclidean spaces. These experiments show good
accuracy when compared to the euclidean distance or even dynamic programming
algorithms while maintaining a linear algorithmic complexity at exploitation
stage, although a quadratic indexing phase beforehand is required.Comment: arXiv admin note: substantial text overlap with arXiv:1101.431
The Parallelism Motifs of Genomic Data Analysis
Genomic data sets are growing dramatically as the cost of sequencing
continues to decline and small sequencing devices become available. Enormous
community databases store and share this data with the research community, but
some of these genomic data analysis problems require large scale computational
platforms to meet both the memory and computational requirements. These
applications differ from scientific simulations that dominate the workload on
high end parallel systems today and place different requirements on programming
support, software libraries, and parallel architectural design. For example,
they involve irregular communication patterns such as asynchronous updates to
shared data structures. We consider several problems in high performance
genomics analysis, including alignment, profiling, clustering, and assembly for
both single genomes and metagenomes. We identify some of the common
computational patterns or motifs that help inform parallelization strategies
and compare our motifs to some of the established lists, arguing that at least
two key patterns, sorting and hashing, are missing
Organismic Supercategories and Qualitative Dynamics of Systems
The representation of biological systems by means of organismic supercategories, developed in previous papers, is further discussed. The different approaches to relational biology, developed by Rashevsky, Rosen and by Baianu and Marinescu, are compared with Qualitative Dynamics of Systems which was initiated by Henri Poincaré (1881). On the basis of this comparison some concrete results concerning dynamics of genetic system, development, fertilization, regeneration, analogies, and oncogenesis are derived
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