Iterative Quantization Using Codes On Graphs

We study codes on graphs combined with an iterative message passing algorithm for quantization. Specifically, we consider the binary erasure quantization (BEQ) problem which is the dual of the binary erasure channel (BEC) coding problem. We show that duals of capacity achieving codes for the BEC yield codes which approach the minimum possible rate for the BEQ. In contrast, low density parity check codes cannot achieve the minimum rate unless their density grows at least logarithmically with block length. Furthermore, we show that duals of efficient iterative decoding algorithms for the BEC yield efficient encoding algorithms for the BEQ. Hence our results suggest that graphical models may yield near optimal codes in source coding as well as in channel coding and that duality plays a key role in such constructions.Comment: 10 page

Hierarchical and High-Girth QC LDPC Codes

We present a general approach to designing capacity-approaching high-girth low-density parity-check (LDPC) codes that are friendly to hardware implementation. Our methodology starts by defining a new class of "hierarchical" quasi-cyclic (HQC) LDPC codes that generalizes the structure of quasi-cyclic (QC) LDPC codes. Whereas the parity check matrices of QC LDPC codes are composed of circulant sub-matrices, those of HQC LDPC codes are composed of a hierarchy of circulant sub-matrices that are in turn constructed from circulant sub-matrices, and so on, through some number of levels. We show how to map any class of codes defined using a protograph into a family of HQC LDPC codes. Next, we present a girth-maximizing algorithm that optimizes the degrees of freedom within the family of codes to yield a high-girth HQC LDPC code. Finally, we discuss how certain characteristics of a code protograph will lead to inevitable short cycles, and show that these short cycles can be eliminated using a "squashing" procedure that results in a high-girth QC LDPC code, although not a hierarchical one. We illustrate our approach with designed examples of girth-10 QC LDPC codes obtained from protographs of one-sided spatially-coupled codes.Comment: Submitted to IEEE Transactions on Information THeor

Proximal operators for multi-agent path planning

We address the problem of planning collision-free paths for multiple agents using optimization methods known as proximal algorithms. Recently this approach was explored in Bento et al. 2013, which demonstrated its ease of parallelization and decentralization, the speed with which the algorithms generate good quality solutions, and its ability to incorporate different proximal operators, each ensuring that paths satisfy a desired property. Unfortunately, the operators derived only apply to paths in 2D and require that any intermediate waypoints we might want agents to follow be preassigned to specific agents, limiting their range of applicability. In this paper we resolve these limitations. We introduce new operators to deal with agents moving in arbitrary dimensions that are faster to compute than their 2D predecessors and we introduce landmarks, space-time positions that are automatically assigned to the set of agents under different optimality criteria. Finally, we report the performance of the new operators in several numerical experiments.Comment: See movie at http://youtu.be/gRnsjd_ocx