Detecting free splittings in relatively hyperbolic groups

We describe an algorithm which determines whether or not a group which is hyperbolic relative to abelian groups admits a nontrivial splitting over a finite group.Comment: 15 pages. Version 2 is 17 pages, edited in light of referee's comments. To appear in Transactions of the AM

Non-Asymptotic Analysis of Tangent Space Perturbation

Constructing an efficient parameterization of a large, noisy data set of points lying close to a smooth manifold in high dimension remains a fundamental problem. One approach consists in recovering a local parameterization using the local tangent plane. Principal component analysis (PCA) is often the tool of choice, as it returns an optimal basis in the case of noise-free samples from a linear subspace. To process noisy data samples from a nonlinear manifold, PCA must be applied locally, at a scale small enough such that the manifold is approximately linear, but at a scale large enough such that structure may be discerned from noise. Using eigenspace perturbation theory and non-asymptotic random matrix theory, we study the stability of the subspace estimated by PCA as a function of scale, and bound (with high probability) the angle it forms with the true tangent space. By adaptively selecting the scale that minimizes this bound, our analysis reveals an appropriate scale for local tangent plane recovery. We also introduce a geometric uncertainty principle quantifying the limits of noise-curvature perturbation for stable recovery. With the purpose of providing perturbation bounds that can be used in practice, we propose plug-in estimates that make it possible to directly apply the theoretical results to real data sets.Comment: 53 pages. Revised manuscript with new content addressing application of results to real data set

Mean field games with common noise

A theory of existence and uniqueness is developed for general stochastic differential mean field games with common noise. The concepts of strong and weak solutions are introduced in analogy with the theory of stochastic differential equations, and existence of weak solutions for mean field games is shown to hold under very general assumptions. Examples and counter-examples are provided to enlighten the underpinnings of the existence theory. Finally, an analog of the famous result of Yamada and Watanabe is derived, and it is used to prove existence and uniqueness of a strong solution under additional assumptions

MAA*: A Heuristic Search Algorithm for Solving Decentralized POMDPs

We present multi-agent A* (MAA*), the first complete and optimal heuristic search algorithm for solving decentralized partially-observable Markov decision problems (DEC-POMDPs) with finite horizon. The algorithm is suitable for computing optimal plans for a cooperative group of agents that operate in a stochastic environment such as multirobot coordination, network traffic control, `or distributed resource allocation. Solving such problems efiectively is a major challenge in the area of planning under uncertainty. Our solution is based on a synthesis of classical heuristic search and decentralized control theory. Experimental results show that MAA* has significant advantages. We introduce an anytime variant of MAA* and conclude with a discussion of promising extensions such as an approach to solving infinite horizon problems.Comment: Appears in Proceedings of the Twenty-First Conference on Uncertainty in Artificial Intelligence (UAI2005

Economic Development, Legality, and the Transplant Effect

We analyze the determinants of effective legal institutions (legality) using data from 49 countries. We show that the way the law was initially transplanted and received is a more important determinant than the supply of law from a particular legal family. Countries that have developed legal orders internally, adapted the transplanted law, and/or had a population that was already familiar with basic principles of the transplanted law have more effective legality than countries that received foreign law without any similar pre-dispositions. The transplanting process has a strong indirect effect on economic development via its impact on legality.transplant versus origin, receptive, unreceptive, direct and indirect transplants, legality

Noise Corruption of Empirical Mode Decomposition and Its Effect on Instantaneous Frequency

Huang's Empirical Mode Decomposition (EMD) is an algorithm for analyzing nonstationary data that provides a localized time-frequency representation by decomposing the data into adaptively defined modes. EMD can be used to estimate a signal's instantaneous frequency (IF) but suffers from poor performance in the presence of noise. To produce a meaningful IF, each mode of the decomposition must be nearly monochromatic, a condition that is not guaranteed by the algorithm and fails to be met when the signal is corrupted by noise. In this work, the extraction of modes containing both signal and noise is identified as the cause of poor IF estimation. The specific mechanism by which such "transition" modes are extracted is detailed and builds on the observation of Flandrin and Goncalves that EMD acts in a filter bank manner when analyzing pure noise. The mechanism is shown to be dependent on spectral leak between modes and the phase of the underlying signal. These ideas are developed through the use of simple signals and are tested on a synthetic seismic waveform.Comment: 28 pages, 19 figures. High quality color figures available on Daniel Kaslovsky's website: http://amath.colorado.edu/student/kaslovsk