Environmental boundary tracking and estimation using multiple autonomous vehicles

In this paper, we develop a framework for environmental boundary tracking and estimation by considering the boundary as a hidden Markov model (HMM) with separated observations collected from multiple sensing vehicles. For each vehicle, a tracking algorithm is developed based on Page’s cumulative sum algorithm (CUSUM), a method for change-point detection, so that individual vehicles can autonomously track the boundary in a density field with measurement noise. Based on the data collected from sensing vehicles and prior knowledge of the dynamic model of boundary evolvement, we estimate the boundary by solving an optimization problem, in which prediction and current observation are considered in the cost function. Examples and simulation results are presented to verify the efficiency of this approach

Characterization of radially symmetric finite time blowup in multidimensional aggregation equations,

This paper studies the transport of a mass $\mu$ in $\real^d, d \geq 2,$ by a flow field $v= -\nabla K*\mu$. We focus on kernels $K=|x|^\alpha/ \alpha$ for $2-d\leq \alpha<2$ for which the smooth densities are known to develop singularities in finite time. For this range This paper studies the transport of a mass $\mu$ in $\real^d, d \geq 2,$ by a flow field $v= -\nabla K*\mu$. We focus on kernels $K=|x|^\alpha/ \alpha$ for $2-d\leq \alpha<2$ for which the smooth densities are known to develop singularities in finite time. For this range we prove the existence for all time of radially symmetric measure solutions that are monotone decreasing as a function of the radius, thus allowing for continuation of the solution past the blowup time. The monotone constraint on the data is consistent with the typical blowup profiles observed in recent numerical studies of these singularities. We prove monotonicity is preserved for all time, even after blowup, in contrast to the case $\alpha >2$ where radially symmetric solutions are known to lose monotonicity. In the case of the Newtonian potential ($\alpha=2-d$), under the assumption of radial symmetry the equation can be transformed into the inviscid Burgers equation on a half line. This enables us to prove preservation of monotonicity using the classical theory of conservation laws. In the case $2 -d < \alpha < 2$ and at the critical exponent $p$ we exhibit initial data in $L^p$ for which the solution immediately develops a Dirac mass singularity. This extends recent work on the local ill-posedness of solutions at the critical exponent.Comment: 30 page

A Model for Optimal Human Navigation with Stochastic Effects

We present a method for optimal path planning of human walking paths in mountainous terrain, using a control theoretic formulation and a Hamilton-Jacobi-Bellman equation. Previous models for human navigation were entirely deterministic, assuming perfect knowledge of the ambient elevation data and human walking velocity as a function of local slope of the terrain. Our model includes a stochastic component which can account for uncertainty in the problem, and thus includes a Hamilton-Jacobi-Bellman equation with viscosity. We discuss the model in the presence and absence of stochastic effects, and suggest numerical methods for simulating the model. We discuss two different notions of an optimal path when there is uncertainty in the problem. Finally, we compare the optimal paths suggested by the model at different levels of uncertainty, and observe that as the size of the uncertainty tends to zero (and thus the viscosity in the equation tends to zero), the optimal path tends toward the deterministic optimal path

Simplified Energy Landscape for Modularity Using Total Variation

Networks capture pairwise interactions between entities and are frequently used in applications such as social networks, food networks, and protein interaction networks, to name a few. Communities, cohesive groups of nodes, often form in these applications, and identifying them gives insight into the overall organization of the network. One common quality function used to identify community structure is modularity. In Hu et al. [SIAM J. App. Math., 73(6), 2013], it was shown that modularity optimization is equivalent to minimizing a particular nonconvex total variation (TV) based functional over a discrete domain. They solve this problem, assuming the number of communities is known, using a Merriman, Bence, Osher (MBO) scheme. We show that modularity optimization is equivalent to minimizing a convex TV-based functional over a discrete domain, again, assuming the number of communities is known. Furthermore, we show that modularity has no convex relaxation satisfying certain natural conditions. We therefore, find a manageable non-convex approximation using a Ginzburg Landau functional, which provably converges to the correct energy in the limit of a certain parameter. We then derive an MBO algorithm with fewer hand-tuned parameters than in Hu et al. and which is 7 times faster at solving the associated diffusion equation due to the fact that the underlying discretization is unconditionally stable. Our numerical tests include a hyperspectral video whose associated graph has 2.9x10^7 edges, which is roughly 37 times larger than was handled in the paper of Hu et al.Comment: 25 pages, 3 figures, 3 tables, submitted to SIAM J. App. Mat

A Method Based on Total Variation for Network Modularity Optimization using the MBO Scheme

The study of network structure is pervasive in sociology, biology, computer science, and many other disciplines. One of the most important areas of network science is the algorithmic detection of cohesive groups of nodes called "communities". One popular approach to find communities is to maximize a quality function known as {\em modularity} to achieve some sort of optimal clustering of nodes. In this paper, we interpret the modularity function from a novel perspective: we reformulate modularity optimization as a minimization problem of an energy functional that consists of a total variation term and an $\ell_2$ balance term. By employing numerical techniques from image processing and $\ell_1$ compressive sensing -- such as convex splitting and the Merriman-Bence-Osher (MBO) scheme -- we develop a variational algorithm for the minimization problem. We present our computational results using both synthetic benchmark networks and real data.Comment: 23 page

Reverse undercompressive shock structures in driven thin film flow

We show experimental evidence of a new structure involving an undercompressive and reverse undercompressive shock for draining films driven by a surface tension gradient against gravity. The reverse undercompressive shock is unstable to transverse perturbations while the leading undercompressive shock is stable. Depending on the pinch-off film thickness, as controlled by the meniscus, either a trailing rarefaction wave or a compressive shock separates from the reverse undercompressive shock

Multiclass Data Segmentation using Diffuse Interface Methods on Graphs

We present two graph-based algorithms for multiclass segmentation of high-dimensional data. The algorithms use a diffuse interface model based on the Ginzburg-Landau functional, related to total variation compressed sensing and image processing. A multiclass extension is introduced using the Gibbs simplex, with the functional's double-well potential modified to handle the multiclass case. The first algorithm minimizes the functional using a convex splitting numerical scheme. The second algorithm is a uses a graph adaptation of the classical numerical Merriman-Bence-Osher (MBO) scheme, which alternates between diffusion and thresholding. We demonstrate the performance of both algorithms experimentally on synthetic data, grayscale and color images, and several benchmark data sets such as MNIST, COIL and WebKB. We also make use of fast numerical solvers for finding the eigenvectors and eigenvalues of the graph Laplacian, and take advantage of the sparsity of the matrix. Experiments indicate that the results are competitive with or better than the current state-of-the-art multiclass segmentation algorithms.Comment: 14 page