On Randomized Path Coverage of Configuration Spaces

We present a sampling-based algorithm that generates a set of locally-optimal paths that differ in visibility

Linear-Space Data Structures for Range Mode Query in Arrays

A mode of a multiset $S$ is an element $a \in S$ of maximum multiplicity; that is, $a$ occurs at least as frequently as any other element in $S$. Given a list $A[1:n]$ of $n$ items, we consider the problem of constructing a data structure that efficiently answers range mode queries on $A$. Each query consists of an input pair of indices $(i, j)$ for which a mode of $A[i:j]$ must be returned. We present an $O(n^{2-2\epsilon})$-space static data structure that supports range mode queries in $O(n^\epsilon)$ time in the worst case, for any fixed $\epsilon \in [0,1/2]$. When $\epsilon = 1/2$, this corresponds to the first linear-space data structure to guarantee $O(\sqrt{n})$ query time. We then describe three additional linear-space data structures that provide $O(k)$, $O(m)$, and $O(|j-i|)$ query time, respectively, where $k$ denotes the number of distinct elements in $A$ and $m$ denotes the frequency of the mode of $A$. Finally, we examine generalizing our data structures to higher dimensions.Comment: 13 pages, 2 figure

Angle Tree: Nearest Neighbor Search in High Dimensions with Low Intrinsic Dimensionality

We propose an extension of tree-based space-partitioning indexing structures for data with low intrinsic dimensionality embedded in a high dimensional space. We call this extension an Angle Tree. Our extension can be applied to both classical kd-trees as well as the more recent rp-trees. The key idea of our approach is to store the angle (the "dihedral angle") between the data region (which is a low dimensional manifold) and the random hyperplane that splits the region (the "splitter"). We show that the dihedral angle can be used to obtain a tight lower bound on the distance between the query point and any point on the opposite side of the splitter. This in turn can be used to efficiently prune the search space. We introduce a novel randomized strategy to efficiently calculate the dihedral angle with a high degree of accuracy. Experiments and analysis on real and synthetic data sets shows that the Angle Tree is the most efficient known indexing structure for nearest neighbor queries in terms of preprocessing and space usage while achieving high accuracy and fast search time.Comment: To be submitted to IEEE Transactions on Pattern Analysis and Machine Intelligenc

A Framework for Index Bulk Loading and Dynamization

In this paper we investigate automated methods for externalizing internal memory data structures. We consider a class of balanced trees that we call weight-balanced partitioning trees (or wp-trees) for indexing a set of points in Rd. Well-known examples of wp-trees include fed-trees, BBD-trees, pseudo quad trees, and BAR trees. These trees are defined with fixed degree and are thus suited for internal memory implementations. Given an efficient wp-tree construction algorithm, we present a general framework for automatically obtaining a new dynamic external data structure. Using this framework together with a new general construction (bulk loading) technique of independent interest, we obtain data structures with guaranteed good update performance in terms of I /O transfers. Our approach gives considerably improved construction and update I/O bounds of e.g. fed-trees and BBD-trees