k-Color Multi-Robot Motion Planning

We present a simple and natural extension of the multi-robot motion planning problem where the robots are partitioned into groups (colors), such that in each group the robots are interchangeable. Every robot is no longer required to move to a specific target, but rather to some target placement that is assigned to its group. We call this problem k-color multi-robot motion planning and provide a sampling-based algorithm specifically designed for solving it. At the heart of the algorithm is a novel technique where the k-color problem is reduced to several discrete multi-robot motion planning problems. These reductions amplify basic samples into massive collections of free placements and paths for the robots. We demonstrate the performance of the algorithm by an implementation for the case of disc robots and polygonal robots translating in the plane. We show that the algorithm successfully and efficiently copes with a variety of challenging scenarios, involving many robots, while a simplified version of this algorithm, that can be viewed as an extension of a prevalent sampling-based algorithm for the k-color case, fails even on simple scenarios. Interestingly, our algorithm outperforms a well established implementation of PRM for the standard multi-robot problem, in which each robot has a distinct color.Comment: 2

The inverse moment problem for convex polytopes

The goal of this paper is to present a general and novel approach for the reconstruction of any convex d-dimensional polytope P, from knowledge of its moments. In particular, we show that the vertices of an N-vertex polytope in R^d can be reconstructed from the knowledge of O(DN) axial moments (w.r.t. to an unknown polynomial measure od degree D) in d+1 distinct generic directions. Our approach is based on the collection of moment formulas due to Brion, Lawrence, Khovanskii-Pukhikov, and Barvinok that arise in the discrete geometry of polytopes, and what variously known as Prony's method, or Vandermonde factorization of finite rank Hankel matrices.Comment: LaTeX2e, 24 pages including 1 appendi

Initial singlet and triplet spin state contributions to pp -> pp pi0

The PINTEX facility at the IUCF Cooler ring, dedicated to the study of spin dependence in nucleon-nucleon interactions, has been used to measure polarization observables of the reaction pp -> pp pi0 at beam energies between 325 and 400 MeV. The stored polarized proton beam had spin projections both in the longitudinal and the transverse directions with respect to the beam momentum. We report here on the measurements of the relative transverse and longitudinal spin-dependent cross sections, deltasigma_T/sigma_tot and deltasigma_L/sigma_tot, and how from these observables the initial spin singlet and triplet cross sections are obtained. Considering angular momentum states less or equal to one, the contribution of the Ps partial waves to the cross section can be extracted.Comment: Contribution to PANIC99, XVth Particles and Nuclei International Conference, June 10-16, 1999, Uppsala, Sweden. Latex, 5 pages, 3 figure

Valiant's model: from exponential sums to exponential products

12 pagesWe study the power of big products for computing multivariate polynomials in a Valiant-like framework. More precisely, we define a new class \vpip as the set of families of polynomials that are exponential products of easily computable polynomials. We investigate the consequences of the hypothesis that these big products are themselves easily computable. For instance, this hypothesis would imply that the nonuniform versions of P and NP coincide. Our main result relates this hypothesis to Blum, Shub and Smale's algebraic version of P versus NP. Let $K$ be a field of characteristic 0. Roughly speaking, we show that in order to separate \p_K from \np_K using a problem from a fairly large class of ``simple'' problems, one should first be able to show that exponential products are not easily computable. The class of ``simple'' problems under consideration is the class of NP problems in the structure $(K,+,-,=)$, in which multiplication is not allowed

Hard Instances of the Constrained Discrete Logarithm Problem

The discrete logarithm problem (DLP) generalizes to the constrained DLP, where the secret exponent $x$ belongs to a set known to the attacker. The complexity of generic algorithms for solving the constrained DLP depends on the choice of the set. Motivated by cryptographic applications, we study sets with succinct representation for which the constrained DLP is hard. We draw on earlier results due to Erd\"os et al. and Schnorr, develop geometric tools such as generalized Menelaus' theorem for proving lower bounds on the complexity of the constrained DLP, and construct sets with succinct representation with provable non-trivial lower bounds

The three-dimensional random field Ising magnet: interfaces, scaling, and the nature of states

The nature of the zero temperature ordering transition in the 3D Gaussian random field Ising magnet is studied numerically, aided by scaling analyses. In the ferromagnetic phase the scaling of the roughness of the domain walls, $w\sim L^\zeta$, is consistent with the theoretical prediction $\zeta = 2/3$. As the randomness is increased through the transition, the probability distribution of the interfacial tension of domain walls scales as for a single second order transition. At the critical point, the fractal dimensions of domain walls and the fractal dimension of the outer surface of spin clusters are investigated: there are at least two distinct physically important fractal dimensions. These dimensions are argued to be related to combinations of the energy scaling exponent, $\theta$, which determines the violation of hyperscaling, the correlation length exponent $\nu$, and the magnetization exponent $\beta$. The value $\beta = 0.017\pm 0.005$ is derived from the magnetization: this estimate is supported by the study of the spin cluster size distribution at criticality. The variation of configurations in the interior of a sample with boundary conditions is consistent with the hypothesis that there is a single transition separating the disordered phase with one ground state from the ordered phase with two ground states. The array of results are shown to be consistent with a scaling picture and a geometric description of the influence of boundary conditions on the spins. The details of the algorithm used and its implementation are also described.Comment: 32 pp., 2 columns, 32 figure

Motion Planning via Manifold Samples

We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably simpler sampling-based approaches that are appropriate for higher dimensions. In order to facilitate the transfer of advanced geometric algorithms into practical use, we suggest taking samples that are entire low-dimensional manifolds of the configuration space that capture the connectivity of the configuration space much better than isolated point samples. Geometric algorithms for analysis of low-dimensional manifolds then provide powerful primitive operations. The modular design of the framework enables independent optimization of each modular component. Indeed, we have developed, implemented and optimized a primitive operation for complete and exact combinatorial analysis of a certain set of manifolds, using arrangements of curves of rational functions and concepts of generic programming. This in turn enabled us to implement our framework for the concrete case of a polygonal robot translating and rotating amidst polygonal obstacles. We demonstrate that the integration of several carefully engineered components leads to significant speedup over the popular PRM sampling-based algorithm, which represents the more simplistic approach that is prevalent in practice. We foresee possible extensions of our framework to solving high-dimensional problems beyond motion planning.Comment: 18 page

Measurable versions of the LS category on laminations

We give two new versions of the LS category for the set-up of measurable laminations defined by Berm\'udez. Both of these versions must be considered as "tangential categories". The first one, simply called (LS) category, is the direct analogue for measurable laminations of the tangential category of (topological) laminations introduced by Colman Vale and Mac\'ias Virg\'os. For the measurable lamination that underlies any lamination, our measurable tangential category is a lower bound of the tangential category. The second version, called the measured category, depends on the choice of a transverse invariant measure. We show that both of these "tangential categories" satisfy appropriate versions of some well known properties of the classical category: the homotopy invariance, a dimensional upper bound, a cohomological lower bound (cup length), and an upper bound given by the critical points of a smooth function.Comment: 22 page