Related papers: The Critical Radius in Sampling-based Motion Plann…
Motivated by a $2$-dimensional (unsupervised) image segmentation task whereby local regions of pixels are clustered via edge detection methods, a more general probabilistic mathematical framework is devised. Critical thresholds are…
Let $G$ be a group with a non-elementary action on a proper CAT(0) space $X$, and let $\mu$ be a measure on $G$ such that the random walk $(Z_n)_n$ generated by $\mu$ has finite second moment on $X$. Let $o$ be a basepoint in $X$, and…
Trajectory planning tasks for non-holonomic or collaborative systems are naturally modeled by state spaces with non-Euclidean metrics. However, existing proofs of convergence for sample-based motion planners only consider the setting of…
The paper presents a novel learning-based sampling strategy that guarantees rejection-free sampling of the free space under both biased and approximately uniform conditions, leveraging multivariate kernel densities. Historical data from a…
Over the last 20 years significant effort has been dedicated to the development of sampling-based motion planning algorithms such as the Rapidly-exploring Random Trees (RRT) and its asymptotically optimal version (e.g. RRT*). However,…
Suppose we are given access to $n$ independent samples from distribution $\mu$ and we wish to output one of them with the goal of making the output distributed as close as possible to a target distribution $\nu$. In this work we show that…
We prove a new lower bound on the critical density $\rho_c$ of the hard disk model, i.e., the density below which it is possible to efficiently sample random configurations of $n$ non-overlapping disks in a unit torus. We use a classic…
The Gap-Hamming-Distance problem arose in the context of proving space lower bounds for a number of key problems in the data stream model. In this problem, Alice and Bob have to decide whether the Hamming distance between their $n$-bit…
We consider the problem of performing a random walk in a distributed network. Given bandwidth constraints, the goal of the problem is to minimize the number of rounds required to obtain a random walk sample. Das Sarma et al. [PODC'10] show…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
In this paper, we consider the motion planning problem in Gaussian belief space for minimum sensing navigation. Despite the extensive use of sampling-based algorithms and their rigorous analysis in the deterministic setting, there has been…
It is often asserted in the literature that one should expect positive autocorrelation for random walk Metropolis-Hastings (RWMH), especially if the typical proposal step-size is small relative to the variability in the target density. In…
In the negative perceptron problem we are given $n$ data points $({\boldsymbol x}_i,y_i)$, where ${\boldsymbol x}_i$ is a $d$-dimensional vector and $y_i\in\{+1,-1\}$ is a binary label. The data are not linearly separable and hence we…
We first consider {\it deterministic} immersions of the $d$-dimensional sphere into high dimensional Euclidean spaces, where the immersion is via spherical harmonics of level $n$. The main result of the article is the, a priori unexpected,…
Many real-world networks exhibit the so-called small-world phenomenon: their typical distances are much smaller than their sizes. One mathematical model for this phenomenon is a long-range percolation graph on a $d$-dimensional box $\{0, 1,…
Asymptotically-optimal motion planners such as RRT* have been shown to incrementally approximate the shortest path between start and goal states. Once an initial solution is found, their performance can be dramatically improved by…
We study percolation on the hierarchical lattice of order $N$ where the probability of connection between two points separated by distance $k$ is of the form $c_k/N^{k(1+\delta)},\; \delta >-1$. Since the distance is an ultrametric, there…
We consider percolation of the vacant set of random interlacements at intensity $u$ in dimensions three and higher, and derive lower bounds on the truncated two-point function for all values of $u>0$. These bounds are sharp up to principal…
Finding asymptotically-optimal paths in multi-robot motion planning problems could be achieved, in principle, using sampling-based planners in the composite configuration space of all of the robots in the space. The dimensionality of this…
We study the complexity of geometric problems on spaces of low fractal dimension. It was recently shown by [Sidiropoulos & Sridhar, SoCG 2017] that several problems admit improved solutions when the input is a pointset in Euclidean space…