Related papers: The Critical Radius in Sampling-based Motion Plann…
Consider the uniform random graph $G(n,M)$ with $n$ vertices and $M$ edges. Erd\H{o}s and R\'enyi (1960) conjectured that the limit $$ \lim_{n \to \infty} \Pr\{G(n,\textstyle{n\over 2}) is planar}} $$ exists and is a constant strictly…
Incorporating a non-Euclidean variable metric to first-order algorithms is known to bring enhancement. However, due to the lack of an optimal choice, such an enhancement appears significantly underestimated. In this work, we establish a…
We investigate the scaling of the largest critical percolation cluster on a large d-dimensional torus, for nearest-neighbor percolation in high dimensions, or when d>6 for sufficient spread-out percolation. We use a relatively simple…
We consider approximate circular pattern matching (CPM, in short) under the Hamming and edit distance, in which we are given a length-$n$ text $T$, a length-$m$ pattern $P$, and a threshold $k>0$, and we are to report all starting positions…
Recent advances in noiseless non-adaptive group testing have led to a precise asymptotic characterization of the number of tests required for high-probability recovery in the sublinear regime $k = n^{\theta}$ (with $\theta \in (0,1)$), with…
Multi-layer feedforward networks have been used to approximate a wide range of nonlinear functions. An important and fundamental problem is to understand the learnability of a network model through its statistical risk, or the expected…
Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…
We study the problem of reaching agreement in a synchronous distributed system by $n$ autonomous parties, when the communication links from/to faulty parties can omit messages. The faulty parties are selected and controlled by an adaptive,…
In this paper, we consider the problem of noiseless non-adaptive probabilistic group testing, in which the goal is high-probability recovery of the defective set. We show that in the case of $n$ items among which $k$ are defective, the…
In this paper, we introduce a new probabilistically safe local steering primitive for sampling-based motion planning in complex high-dimensional configuration spaces. Our local steering procedure is based on a new notion of a convex…
In statistical and nonlinear systems, two qualitatively distinct parameter regions are typically identified: the regular region, characterized by smooth behavior of key quantities, and the critical region, where these quantities exhibit…
Sampling a random permutation with restricted positions, or equivalently approximating the permanent of a 0-1 matrix, is a fundamental problem in computer science, with several notable results achieved over the years. However, existing…
On a locally finite, infinite tree $T$, let $p_c(T)$ denote the critical probability for Bernoulli percolation. We prove that every positively associated, finite-range dependent percolation model on $T$ with marginals $p > p_c(T)$ must…
We study the facility location mechanism design problem where $n$ agents report their locations in Euclidean space, and the output is a single facility location. The cost function of each agent is the distance from the returned facility,…
We study, in d-dimensions, the random walker with geometrically shrinking step sizes at each hop. We emphasize the integrated quantities such as expectation values, cumulants and moments rather than a direct study of the probability…
The recent empirical success of unsupervised cross-domain mapping algorithms, between two domains that share common characteristics, is not well-supported by theoretical justifications. This lacuna is especially troubling, given the clear…
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…
We derive a local limit theorem for normal, moderate, and large deviations for symmetric simple random walk on the square lattice in dimensions one and two that is an improvement of existing results for points that are particularly distant…
Anytime almost-surely asymptotically optimal planners, such as RRT*, incrementally find paths to every state in the search domain. This is inefficient once an initial solution is found as then only states that can provide a better solution…
We propose new data-driven smooth tests for a parametric regression function. The smoothing parameter is selected through a new criterion that favors a large smoothing parameter under the null hypothesis. The resulting test is adaptive…