Related papers: Quadboost: A Scalable Concurrent Quadtree

This paper presents a non-blocking Patricia trie implementation for an asynchronous shared-memory system using Compare&Swap. The trie implements a linearizable set and supports three update operations: insert adds an element, delete removes…

The block tree [Belazzougui et al., J. Comput. Syst. Sci. '21] is a compressed representation of a length-$n$ text that supports access, rank, and select queries while requiring only $O(z\log\frac{n}{z})$ words of space, where $z$ is the…

Algorithms that use hardware transactional memory (HTM) must provide a software-only fallback path to guarantee progress. The design of the fallback path can have a profound impact on performance. If the fallback path is allowed to run…

Tree boosting is a highly effective and widely used machine learning method. In this paper, we describe a scalable end-to-end tree boosting system called XGBoost, which is used widely by data scientists to achieve state-of-the-art results…

This report describes an implementation of a non-blocking concurrent shared-memory hash trie based on single-word compare-and-swap instructions. Insert, lookup and remove operations modifying different parts of the hash trie can be run…

Using (a,b)-trees as an example, we show how to perform a parallel split with logarithmic latency and parallel join, bulk updates, intersection, union (or merge), and (symmetric) set difference with logarithmic latency and with information…

This paper proposes an efficient data structure, ikd-Tree, for dynamic space partition. The ikd-Tree incrementally updates a k-d tree with new coming points only, leading to much lower computation time than existing static k-d trees.…

This paper presents a novel and efficient collision checking approach called Updating and Collision Check Skipping Quad-tree (USQ) for multi-robot motion planning. USQ extends the standard quad-tree data structure through a time-efficient…

Monte Carlo Tree Search (MCTS) methods have achieved great success in many Artificial Intelligence (AI) benchmarks. The in-tree operations become a critical performance bottleneck in realizing parallel MCTS on CPUs. In this work, we develop…

We present a new non-blocking doubly-linked list implementation for an asynchronous shared-memory system. It is the first such implementation for which an upper bound on amortized time complexity has been proved. In our implementation,…

This paper presents a batch-parallel 2-3 tree T in an asynchronous dynamic multithreading model that supports searches, insertions and deletions in sorted batches and has essentially optimal parallelism, even under the restrictive QRMW…

Many concurrent dictionary implementations are designed and optimized for read-mostly workloads with uniformly distributed keys, and often perform poorly on update-heavy workloads. In this work, we first present a concurrent (a,b)-tree, the…

Replicated tree data structures are extensively used in collaborative applications and distributed file systems, where clients often perform move operations. Local move operations at different replicas may be safe. However, remote move…

In this paper, we present a method of multi-robot motion planning by biasing centralized, sampling-based tree search with decentralized, data-driven steer and distance heuristics. Over a range of robot and obstacle densities, we evaluate…

A buffer k-d tree is a k-d tree variant for massively-parallel nearest neighbor search. While providing valuable speed-ups on modern many-core devices in case both a large number of reference and query points are given, buffer k-d trees are…

A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…

Motion planning is challenging when it comes to the case of imperfect state information. Decision should be made based on belief state which evolves according to the noise from the system dynamics and sensor measurement. In this paper, we…

Motion planning problems can be simplified by admissible projections of the configuration space to sequences of lower-dimensional quotient-spaces, called sequential simplifications. To exploit sequential simplifications, we present the…

Establishing the correspondences between newly acquired points and historically accumulated data (i.e., map) through nearest neighbors search is crucial in numerous robotic applications. However, static tree data structures are inadequate…

The dynamic trees problem is to maintain a tree under edge updates while supporting queries like connectivity queries or path queries. Despite the first data structure for this fundamental problem -- the link-cut tree -- being invented 40…