2-Player Nash and Nonsymmetric Bargaining Games: Algorithms and Structural Properties

The solution to a Nash or a nonsymmetric bargaining game is obtained by maximizing a concave function over a convex set, i.e., it is the solution to a convex program. We show that each 2-player game whose convex program has linear constraints, admits a rational solution and such a solution can be found in polynomial time using only an LP solver. If in addition, the game is succinct, i.e., the coefficients in its convex program are ``small'', then its solution can be found in strongly polynomial time. We also give a non-succinct linear game whose solution can be found in strongly polynomial time

NR-SLAM: Non-Rigid Monocular SLAM

In this paper we present NR-SLAM, a novel non-rigid monocular SLAM system founded on the combination of a Dynamic Deformation Graph with a Visco-Elastic deformation model. The former enables our system to represent the dynamics of the deforming environment as the camera explores, while the later allows us to model general deformations in a simple way. The presented system is able to automatically initialize and extend a map modeled by a sparse point cloud in deforming environments, that is refined with a sliding-window Deformable Bundle Adjustment. This map serves as base for the estimation of the camera motion and deformation and enables us to represent arbitrary surface topologies, overcoming the limitations of previous methods. To assess the performance of our system in challenging deforming scenarios, we evaluate it in several representative medical datasets. In our experiments, NR-SLAM outperforms previous deformable SLAM systems, achieving millimeter reconstruction accuracy and bringing automated medical intervention closer. For the benefit of the community, we make the source code public.Comment: 12 pages, 7 figures, submited to the IEEE Transactions on Robotics (T-RO

Photometric single-view dense 3D reconstruction in endoscopy

Visual SLAM inside the human body will open the way to computer-assisted navigation in endoscopy. However, due to space limitations, medical endoscopes only provide monocular images, leading to systems lacking true scale. In this paper, we exploit the controlled lighting in colonoscopy to achieve the first in-vivo 3D reconstruction of the human colon using photometric stereo on a calibrated monocular endoscope. Our method works in a real medical environment, providing both a suitable in-place calibration procedure and a depth estimation technique adapted to the colon's tubular geometry. We validate our method on simulated colonoscopies, obtaining a mean error of 7% on depth estimation, which is below 3 mm on average. Our qualitative results on the EndoMapper dataset show that the method is able to correctly estimate the colon shape in real human colonoscopies, paving the ground for truescale monocular SLAM in endoscopy

Maximum Edge-Disjoint Paths in kk-sums of Graphs

We consider the approximability of the maximum edge-disjoint paths problem (MEDP) in undirected graphs, and in particular, the integrality gap of the natural multicommodity flow based relaxation for it. The integrality gap is known to be $\Omega(\sqrt{n})$ even for planar graphs due to a simple topological obstruction and a major focus, following earlier work, has been understanding the gap if some constant congestion is allowed. In this context, it is natural to ask for which classes of graphs does a constant-factor constant-congestion property hold. It is easy to deduce that for given constant bounds on the approximation and congestion, the class of "nice" graphs is nor-closed. Is the converse true? Does every proper minor-closed family of graphs exhibit a constant factor, constant congestion bound relative to the LP relaxation? We conjecture that the answer is yes. One stumbling block has been that such bounds were not known for bounded treewidth graphs (or even treewidth 3). In this paper we give a polytime algorithm which takes a fractional routing solution in a graph of bounded treewidth and is able to integrally route a constant fraction of the LP solution's value. Note that we do not incur any edge congestion. Previously this was not known even for series parallel graphs which have treewidth 2. The algorithm is based on a more general argument that applies to $k$-sums of graphs in some graph family, as long as the graph family has a constant factor, constant congestion bound. We then use this to show that such bounds hold for the class of $k$-sums of bounded genus graphs

Smoothed Analysis of the Minimum-Mean Cycle Canceling Algorithm and the Network Simplex Algorithm

The minimum-cost flow (MCF) problem is a fundamental optimization problem with many applications and seems to be well understood. Over the last half century many algorithms have been developed to solve the MCF problem and these algorithms have varying worst-case bounds on their running time. However, these worst-case bounds are not always a good indication of the algorithms' performance in practice. The Network Simplex (NS) algorithm needs an exponential number of iterations for some instances, but it is considered the best algorithm in practice and performs best in experimental studies. On the other hand, the Minimum-Mean Cycle Canceling (MMCC) algorithm is strongly polynomial, but performs badly in experimental studies. To explain these differences in performance in practice we apply the framework of smoothed analysis. We show an upper bound of $O(mn^2\log(n)\log(\phi))$ for the number of iterations of the MMCC algorithm. Here $n$ is the number of nodes, $m$ is the number of edges, and $\phi$ is a parameter limiting the degree to which the edge costs are perturbed. We also show a lower bound of $\Omega(m\log(\phi))$ for the number of iterations of the MMCC algorithm, which can be strengthened to $\Omega(mn)$ when $\phi=\Theta(n^2)$. For the number of iterations of the NS algorithm we show a smoothed lower bound of $\Omega(m \cdot \min \{ n, \phi \} \cdot \phi)$.Comment: Extended abstract to appear in the proceedings of COCOON 201

Recognizing hyperelliptic graphs in polynomial time

Recently, a new set of multigraph parameters was defined, called "gonalities". Gonality bears some similarity to treewidth, and is a relevant graph parameter for problems in number theory and multigraph algorithms. Multigraphs of gonality 1 are trees. We consider so-called "hyperelliptic graphs" (multigraphs of gonality 2) and provide a safe and complete sets of reduction rules for such multigraphs, showing that for three of the flavors of gonality, we can recognize hyperelliptic graphs in O(n log n+m) time, where n is the number of vertices and m the number of edges of the multigraph.Comment: 33 pages, 8 figure

Rheology of moist food powders as affected by moisture content

Dynamic testing to determine rheological characteristics of moist food powders (semolina, coarse wheat flour, potato starch) was carried out using a powder rheometer of a new construction. The unique feature of the rheometer is that scale of shearing was confined to the thickness of shearing band of powder bed only. It was found that flow pattern of moistened samples was noticeably and diversely affected by both moisture content (varying in the range of 0–15% w/w) and shear rate. The observed changes showed statistical significance p < 0.01 in all trials carried out. What is noteworthy about the conducted research is that at some shear rate values, the shear stress of the bed reached the maximum for specific moisture content levels, irrespective of particle size of the bed. Such behavior may provide an indication of complex interference of different powder shearing mechanisms in the presence of moisture. For beds consisted of larger particles, shear stress values decreased considerably with increasing moisture content. To explain this, modeling of the shearing process with Discrete Element Method (DEM) was performed. The results obtained supported the idea that friction coefficients of particulate material were significantly reduced at higher moisture content of the powder bed in the whole range of shear rates applied