Related papers: Probabilistic Analysis of RRT Trees

By introducing the notions of living and dead nodes a new model of random tree evolution with continuous time parameter has been constructed. It is assumed that two random variables, the lifetime and the offspring number of living nodes…

We study the inhomogeneous continuum random trees (ICRT) that arise as weak limits of birthday trees. We give a description of the exploration process, a function defined on [0,1] that encodes the structure of an ICRT, and also of its width…

During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as…

We present analytical results for the distribution of cover times of random walks (RWs) on random regular graphs consisting of $N$ nodes of degree $c$ ($c \ge 3$). Starting from a random initial node at time $t=1$, at each time step $t \ge…

This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been…

We consider a path-planning scenario for a mobile robot traveling in a configuration space with obstacles under the presence of stochastic disturbances. A novel path length metric is proposed on the uncertain configuration space and then…

Popular Monte-Carlo tree search (MCTS) algorithms for online planning, such as epsilon-greedy tree search and UCT, aim at rapidly identifying a reasonably good action, but provide rather poor worst-case guarantees on performance improvement…

Consider a stochastic process that behaves as a $d$-dimensional simple and symmetric random walk, except that, with a certain fixed probability, at each step, it chooses instead to jump to a given site with probability proportional to the…

We study the unit-demand capacitated vehicle routing problem in the random setting of the Euclidean plane. The objective is to visit $n$ random terminals in a square using a set of tours of minimum total length, such that each tour visits…

We study the growth of a time-ordered rooted tree by probabilistic attachment of new vertices to leaves. We construct a likelihood function of the leaves based on the connectivity of the tree. We take such connectivity to be induced by the…

Balancing exploration and exploitation remains a key challenge in reinforcement learning (RL). State-of-the-art RL algorithms suffer from high sample complexity, particularly in the sparse reward case, where they can do no better than to…

We consider the problem of augmenting an n-vertex graph embedded in a metric space, by inserting one additional edge in order to minimize the diameter of the resulting graph. We present exact algorithms for the cases when (i) the input…

We study a maximization problem for geometric network design. Given a set of $n$ compact neighborhoods in $\mathbb{R}^d$, select a point in each neighborhood, so that the longest spanning tree on these points (as vertices) has maximum…

We consider a branching random walk (BRW) taking its values in the $\mathtt{b}$-ary rooted tree $\mathbb W_{ \mathtt{b}}$ (i.e. the set of finite words written in the alphabet $\{ 1, \ldots, \mathtt{b} \}$, with $\mathtt{b}\! \geq \! 2$).…

In recent years, significant progress has been made on algorithms for learning optimal decision trees, primarily in the context of binary features. Extending these methods to continuous features remains substantially more challenging due to…

For a simple (unbiased) random walk on a connected graph with $n$ vertices, the cover time (the expected number of steps it takes to visit all vertices) is at most $O(n^3)$. We consider locally biased random walks, in which the probability…

We survey recent developments about random real trees, whose prototype is the Continuum Random Tree (CRT) introduced by Aldous in 1991. We briefly explain the formalism of real trees, which yields a neat presentation of the theory and in…

Let $\nu\in M^1([0,\infty[)$ be a fixed probability measure. For each dimension $p\in \mathbb{N}$, let $(X_n^{p})_{n\geq1}$ be i.i.d. $\mathbb{R}^p$-valued random variables with radially symmetric distributions and radial distribution…

We study semi-infinite paths of the radial spanning tree (RST) of a Poisson point process in the plane. We first show that the expectation of the number of intersection points between semi-infinite paths and the sphere with radius $r$ grows…

We focus on the problem of performing random walks efficiently in a distributed network. Given bandwidth constraints, the goal is to minimize the number of rounds required to obtain a random walk sample. We first present a fast sublinear…