Related papers: Barycode-based GJK Algorithm
Ideal gases can be modeled by the Boltzmann equation from statistical physics. Instead of trying to track the position and velocity of a large number of gas molecules, it is possible to describe the particles with a particle distribution…
Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-designed maneuvers. With the growing density of satellites…
Physics-based simulation involves trade-offs between performance and accuracy. In collision detection, one trade-off is the granularity of collider geometry. Primitive-based colliders such as bounding boxes are efficient, while using the…
The iteration complexity of the block-coordinate descent (BCD) type algorithm has been under extensive investigation. It was recently shown that for convex problems the classical cyclic BCGD (block coordinate gradient descent) achieves an…
We study the worst-case behavior of Block Coordinate Descent (BCD) type algorithms for unconstrained minimization of coordinate-wise smooth convex functions. This behavior is indeed not completely understood, and the practical success of…
We consider a community finding problem called Co-located Community Detection (CCD) over geo-social networks, which retrieves communities that satisfy both high structural tightness and spatial closeness constraints. To provide a solution…
We propose a binary message passing decoding algorithm for product codes based on generalized minimum distance decoding (GMDD) of the component codes, where the last stage of the GMDD makes a decision based on the Hamming distance metric.…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
The matrix representations of linear codes have been well-studied for use as disjunct matrices. However, no connection has previously been made between the properties of disjunct matrices and the parity-check codes obtained from them. This…
We propose a variable decomposition algorithm -greedy block coordinate descent (GBCD)- in order to make dense Gaussian process regression practical for large scale problems. GBCD breaks a large scale optimization into a series of small…
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…
We present new algorithms to perform fast probabilistic collision queries between convex as well as non-convex objects. Our approach is applicable to general shapes, where one or more objects are represented using Gaussian probability…
For a set of robots (or agents) moving in a graph, two properties are highly desirable: confidentiality (i.e., a message between two agents must not pass through any intermediate agent) and efficiency (i.e., messages are delivered through…
In Europe, 20% of road crashes occur at intersections. In recent years, evolving communication technologies are making V2V and V2I faster and more reliable; with such advancements, these crashes, as well as their economic cost, can be…
We propose an algorithm using the Gaussian elimination method to find the minimal Hamming distance and decode received messages of linear codes. This algorithm is easy to implement as it requires no Gr\"obner bases to compute solutions for…
We propose a method for analyzing the distributed random coordinate descent algorithm for solving separable resource allocation problems in the context of an open multiagent system, where agents can be replaced during the process. In…
In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized…
In this paper, we provide a unified iteration complexity analysis for a family of general block coordinate descent (BCD) methods, covering popular methods such as the block coordinate gradient descent (BCGD) and the block coordinate…
The Euclidean distance geometry problem arises in a wide variety of applications, from determining molecular conformations in computational chemistry to localization in sensor networks. When the distance information is incomplete, the…
Partitioning a connected graph into $k$~vertex-disjoint connected subgraphs of similar (or given) orders is a classical problem that has been intensively investigated since late seventies. Given a connected graph $G=(V,E)$ and a weight…