Domination between traffic matrices

A traffic matrix D-1 dominates a traffic matrix D-2 if any capacity reservation supporting D-1 supports D-2 as well. We prove that D-1 dominates D-2 if and only if D-1, considered as a capacity reservation, supports D-2. We show several generalizations of this result

Clique-circulants and the stable set polytope of fuzzy circular interval graphs

In this paper, we give a complete and explicit description of the rank facets of the stable set polytope for a class of claw-free graphs, recently introduced by Chudnovsky and Seymour (Proceedings of the Bristish Combinatorial Conference, 2005), called fuzzy circular interval graphs. The result builds upon the characterization of minimal rank facets for claw-free graphs by Galluccio and Sassano (J. Combinatorial Theory 69:1-38, 2005) and upon the introduction of a superclass of circulant graphs that are called clique-circulants. The new class of graphs is invetigated in depth. We characterize which clique-circulants C are facet producing, i.e. are such that Sigma upsilon epsilon V(C) chi(upsilon) <= alpha(C) is a facet of STAB(C), thus extending a result of Trotter (Discrete Math. 12:373-388, 1975) for circulants. We show that a simple clique family inequality (Oriolo, Discrete Appl. Math. 132(2):185-201, 2004) may be associated with each clique-circulant C subset of G, when G is fuzzy circular interval. We show that these inequalities provide all the rank facets of STAB(G), if G is a fuzzy circular interval graph. Moreover we conjecture that, in this case, they also provide all the non-rank facets of STAB(G) and offer evidences for this conjecture

A Bayesian framework for optimal motion planning with uncertainty

Modeling robot motion planning with uncertainty in a Bayesian framework leads to a computationally intractable stochastic control problem. We seek hypotheses that can justify a separate implementation of control, localization and planning. In the end, we reduce the stochastic control problem to path- planning in the extended space of poses x covariances; the transitions between states are modeled through the use of the Fisher information matrix. In this framework, we consider two problems: minimizing the execution time, and minimizing the final covariance, with an upper bound on the execution time. Two correct and complete algorithms are presented. The first is the direct extension of classical graph-search algorithms in the extended space. The second one is a back-projection algorithm: uncertainty constraints are propagated backward from the goal towards the start state

The hidden matching-structure of the composition of strips: a polyhedral perspective

Stable set problems subsume matching problems since a matching is a stable set in a so- called line graph but stable set problems are hard in general while matching can be solved efficiently [11]. However, there are some classes of graphs where the stable set problem can be solved efficiently. A famous class is that of claw-free graphs; in fact, in 1980 Minty [19, 20] gave the first polynomial time algorithm for finding a maximum weighted stable set (mwss) in a claw-free graph. One of the reasons why stable set in claw-free graphs can be solved efficiently is because the so called augmenting path theorem [4] for matching generalizes to claw-free graphs [5] (this is what Minty is using). We believe that another core reason is structural and that there is a intrinsic matching structure in claw-free graphs. Indeed, recently Chudnovsky and Seymour [8] shed some light on this by proposing a decomposition theorem for claw-free graphs where they describe how to compose all claw-free graphs from building blocks. Interestingly the composition operation they defined seems to have nice consequences for the stable set problem that go much beyond claw-free graphs. Actually in a recent paper [21] Oriolo, Pietropaoli and Stauffer have revealed how one can use the structure of this composition to solve the stable set problem for composed graphs in polynomial time by reduction to matching. In this paper we are now going to reveal the nice polyhedral counterpart of this composition procedure, i.e. how one can use the structure of this composition to describe the stable set polytope from the matching one and, more importantly, how one can use it to separate over the stable set polytope in polynomial time. We will then apply those general results back to where they originated from: stable set in claw-free graphs, to show that the stable set polytope can be reduced to understanding the polytope in very basic structures (for most of which it is already known). In particular for a general claw-free graph G, we show two integral extended formulation for STAB(G) and a procedure to separate in polynomial time over STAB(G); moreover, we provide a complete characterization of STAB(G) when G is any claw-free graph with stability number at least 4 having neither homogeneous pairs nor 1-joins. We believe that the missing bricks towards the characterization of the stable set polytope of claw-free graphs are more technical than fundamentals; in particular, we have a characterization for most of the building bricks of the Chudnovsky-Seymour decomposition result and we are therefore very confident it is only a question of time before we solve the remaining case

Different ways to success: Plant community trajectories over time and a soil moisture gradient in restored wetlands

Ecological restoration is one of the most promising strategies to combat historical wetland losses caused by land use changes. Restored areas are ideal sites to study plant succession and changes in ecosystem functions over time. However, little is known about the influence of restoration on plant succession along environmental stress gradients. Knowing the processes and mechanisms driving the succession over time in contrasting abiotic conditions might provide new insight into the ultimate success of an ecological restoration. Relying on long-term vegetation monitoring, we studied the community succession of 4 plant communities along a restored waterlogging gradient in North-East Italy (from high to low soil saturation level): (i) Cladium fens, (ii) low alkaline fens, (iii) Molina wet meadows and (iv) dry meadows. We monitored 23 permanent plots distributed along the gradient, spanning from 1 to 21 years since restoration, and 4 plots as target vegetation (natural habitats). We analysed the changes in plant communities in terms of functional traits, diversity and species composition. We found that exotic and annual species decreased in mature stages of restoration while leaf dry matter content increased over time. Nutrient indicator value and leaf area showed opposite trends at the extreme points of the gradient. Across the successional stages, species richness decreased in Cladium fens and increased in alkaline fens and meadows. Species composition moved toward target vegetation showing contrasting dynamics between different restored habitats. Synthesis and applications. During succession waterlogging stress acts as main abiotic filter, triggering contrasting trajectories of plant communities. This filter seems to be stronger at the extreme points of the gradient generating opposite but faster dynamics than at intermediate conditions. Time and waterlogging promoted a continuous selection of species consistent to target vegetation in terms of richness, functional traits and composition. The evidenced trajectories suggest the need to develop habitat-specific protocols concerning the selection of restoration site and subsequent management decisions, with particular regard to plant communities at intermediate ecological conditions

A fast algorithm to remove proper and homogeneous pairs of cliques (while preserving some graph invariants)

We introduce a family of reductions for removing proper and homogeneous pairs of cliques from a graph G. This family generalizes some reductions presented in the literature, mostly in the context of claw-free graphs. We show that these reductions can be embedded in a simple algorithm that in at most jE(G)j steps builds a new graph G0 such that G0 has no proper and homogeneous pairs of cliques, and G and G0 agree on the value of some relevant invariant (or property)

Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC

It is common knowledge that tractor-trailer vehicles are affected by jackknifing, a phenomenon that consists in the divergence of the trailer hitch angle and ultimately causes the vehicle to fold up. For the case of backwards motion, in which jackknifing can also occur at low speeds, we present a control method that drives the vehicle along a reference Cartesian trajectory while avoiding the divergence of the hitch angle. In particular, a feedback control law is obtained by combining two actions: a tracking term, computed using input-output linearization, and a corrective term, generated via IS-MPC, an intrinsically stable MPC scheme which is effective for stable inversion of nonminimum-phase systems. The proposed method has been verified in simulation and experimentally validated on a purposely built prototype

The VPN problems with concave costs

Only recently Goyal, Olver and Shepherd (Proc. STOC, 2008) proved that the symmetric Virtual Private Network Design (sVPN) problem has the tree routing property, namely, that there always exists an optimal solution to the problem whose support is a tree. Combining this with previous results by Fingerhut, Suri and Turner (J. Alg., 1997) and Gupta, Kleinberg, Kumar, Rastogi and Yener (Proc. STOC, 2001), sVPN can be solved in polynomial time. In this paper we investigate an APX-hard generalization of sVPN, where the contribution of each edge to the total cost is proportional to some non-negative, concave and non-decreasing function of the capacity reservation. We show that the tree routing property extends to the new problem, and give a constant-factor approximation algorithm for it. We also show that the undirected uncapacitated single-source minimum concave-cost flow problem has the tree routing property when the cost function has some property of symmetry

Force, orientation and position control in redundant manipulators in prioritized scheme with null space compliance

This paper addresses the problem of executing multiple prioritized tasks for robot manipulators with compliant behavior in the remaining null space. A novel controller–observer is proposed to ensure accurate accomplishment of various tasks based on a predefined hierarchy using a new priority assignment approach. Force control, position control and orientation control are considered. Moreover, a compliant behavior is imposed in the null space to handle physical interaction without using joint torque measurements. Asymptotic stability of the task space error and external torque estimation error during executing multiple tasks are shown. The performance of the proposed approach is evaluated on a 7R light weight robot arm by several case studies

Bayesian neural network modeling and hierarchical MPC for a tendon-driven surgical robot with uncertainty minimization

In order to guarantee precision and safety in robotic surgery, accurate models of the robot and proper control strategies are needed. Bayesian Neural Networks (BNN) are capable of learning complex models and provide information about the uncertainties of the learned system. Model Predictive Control (MPC) is a reliable control strategy to ensure optimality and satisfaction of safety constraints. In this work we propose the use of BNN to build the highly nonlinear kinematic and dynamic models of a tendon-driven surgical robot, and exploit the information about the epistemic uncertainties by means of a Hierarchical MPC (Hi-MPC) control strategy. Simulation and real world experiments show that the method is capable of ensuring accurate tip positioning, while satisfying imposed safety bounds on the kinematics and dynamics of the robot