Related papers: Quadboost: A Scalable Concurrent Quadtree
In this paper, a new and novel data structure is proposed to dynamically insert and delete segments. Unlike the standard segment trees[3], the proposed data structure permits insertion of a segment with interval range beyond the interval…
We present space-efficient parallel strategies for two fundamental combinatorial search problems, namely, backtrack search and branch-and-bound, both involving the visit of an $n$-node tree of height $h$ under the assumption that a node can…
Despite its groundbreaking success in Go and computer games, Monte Carlo Tree Search (MCTS) is computationally expensive as it requires a substantial number of rollouts to construct the search tree, which calls for effective…
Motion planning problems for physically-coupled multi-robot systems in cluttered environments are challenging due to their high dimensionality. Existing methods combining sampling-based planners with trajectory optimization produce…
Multi-Agent Path Finding (MAPF) remains a fundamental challenge in robotics, where classical centralized approaches exhibit exponential growth in joint-state complexity as the number of agents increases. This paper investigates Quadratic…
We study the problem of dynamically maintaining the connected components of an undirected graph subject to edge insertions and deletions. We give the first parallel algorithm for the problem which is work-efficient, supports batches of…
Monte Carlo Tree Search (MCTS) algorithms have achieved great success on many challenging benchmarks (e.g., Computer Go). However, they generally require a large number of rollouts, making their applications costly. Furthermore, it is also…
The M-tree is a paged, dynamically balanced metric access method that responds gracefully to the insertion of new objects. To date, no algorithm has been published for the corresponding Delete operation. We believe this to be non-trivial…
We present a novel distributed union-find algorithm that features asynchronous parallelism and k-d tree based load balancing for scalable visualization and analysis of scientific data. Applications of union-find include level set extraction…
Many algorithms have been parallelized successfully on the Intel Xeon Phi coprocessor, especially those with regular, balanced, and predictable data access patterns and instruction flows. Irregular and unbalanced algorithms are harder to…
B$^+$-trees are prevalent in traditional database systems due to their versatility and balanced structure. While binary search is typically utilized for branch operations, it may lead to inefficient cache utilization in main-memory…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
Real-world point sets tend to be clustered, so using a machine word for each point is wasteful. In this paper we first show how a compact representation of quadtrees using $\Oh{1}$ bits per node can break this bound on clustered point sets,…
The lock-free, ordered, linked list is an important, standard example of a concurrent data structure. An obvious, practical drawback of textbook implementations is that failed compare-and-swap (CAS) operations lead to retraversal of the…
Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited buffer space for temporary placements. The complexity…
CatBoost is a popular machine learning library. CatBoost models are based on oblivious decision trees, making training and evaluation rapid. CatBoost has many applications, and some require low latency and high throughput evaluation. This…
Innovative shared mobility services provide on-demand flexible mobility options and have the potential to alleviate traffic congestion. These attractive services are challenging from different perspectives. One major challenge in such…
To harness modern multicore processors, it is imperative to develop parallel versions of fundamental algorithms. In this paper, we compare different approaches to parallel best-first search in a shared-memory setting. We present a new…
We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot…
As file systems are increasingly being deployed on ever larger systems with many cores and multi-gigabytes of memory, scaling the internal data structures of file systems has taken greater importance and urgency. A doubly-linked list is a…