Related papers: Computing braid groups of graphs with applications…
The present paper is concerned with the concept of the one-way quantum computer, beyond binary-systems, and its relation to the concept of stabilizer quantum codes. This relation is exploited to analyze a particular class of quantum…
Graphs are a useful abstraction of image content. Not only can graphs represent details about individual objects in a scene but they can capture the interactions between pairs of objects. We present a method for training a convolutional…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
For distributed graph processing on massive graphs, a graph is partitioned into multiple equally-sized parts which are distributed among machines in a compute cluster. In the last decade, many partitioning algorithms have been developed…
Braid monodromy is an important tool for computing invariants of curves and surfaces. In this paper, the \emph{rectangular braid diagram (RBD)} method is proposed to compute the braid monodromy of a completely reducible $n$-gonal curve,…
Deep neural networks for graphs have emerged as a powerful tool for learning on complex non-euclidean data, which is becoming increasingly common for a variety of different applications. Yet, although their potential has been widely…
We propose a universal approach to a range of enumeration problems in graphs. The key point is in contracting suitably chosen symmetric tensors placed at the vertices of a graph along the edges. In particular, this leads to an algorithm…
Classically, planning tasks are studied as a two-step process: plan creation and plan execution. In situations where plan creation is slow (for example, due to expensive information access or complex constraints), a natural speed-up tactic…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
In this paper we outline the approach of solving special type of navigation tasks for robotic systems, when a coalition of robots (agents) acts in the 2D environment, which can be modified by the actions, and share the same goal location.…
We present a framework for learning to guide geometric task and motion planning (GTAMP). GTAMP is a subclass of task and motion planning in which the goal is to move multiple objects to target regions among movable obstacles. A standard…
Motivated by a rigidity-theoretic perspective on the Localization Problem in 2D, we develop an algorithm for computing circuit polynomials in the algebraic rigidity matroid associated to the Cayley-Menger ideal for $n$ points in 2D. We…
In the next generation cellular networks, device-to-device (D2D) communication is already considered a fundamental feature. A problem of multi-hop D2D networks is on how to define forwarding algorithms that achieve, at the same time, high…
We give several new positive finite presentations for the pure braid group that are easy to remember and simple in form. All of our presentations involve a metric on the punctured disc so that the punctures are arranged "convexly", which is…
This article is concerned with an example of complex planar geometry arising from flat origami challenges. The complexity of solution algorithms is illustrated, depending on the depth of the initial analysis of the problem, starting from…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
We present a novel preconditioning technique for proximal optimization methods that relies on graph algorithms to construct effective preconditioners. Such combinatorial preconditioners arise from partitioning the graph into forests. We…
We study a graph partitioning problem motivated by the simulation of the physical movement of multi-body systems on an atomistic level, where the forces are calculated from a quantum mechanical description of the electrons. Several advanced…
Modeling the dynamics of people walking is a problem of long-standing interest in computer vision. Many previous works involving pedestrian trajectory prediction define a particular set of individual actions to implicitly model group…
We present a new algorithm for computing the first discrete homology group of a graph. By testing the algorithm on different data sets of random graphs, we find that it significantly outperforms other known algorithms.