Related papers: Barycode-based GJK Algorithm
This paper presents a convex approach to the optimization of a cooperative rendezvous, that is, the problem of two distant spacecraft that simultaneously operate to get closer. Convex programming guarantees convergence towards the optimal…
In the classic Minimum Bisection problem we are given as input a graph $G$ and an integer $k$. The task is to determine whether there is a partition of $V(G)$ into two parts $A$ and $B$ such that $||A|-|B|| \leq 1$ and there are at most $k$…
In this paper, we propose new techniques for solving geometric optimization problems involving interpoint distances of a point set in the plane. Given a set $P$ of $n$ points in the plane and an integer $1 \leq k \leq \binom{n}{2}$, the…
Future beyond-5G and 6G systems demand ultra-reliable, low-latency communication with short blocklengths, motivating the development of universal decoding algorithms. Guessing decoding, which infers the noise or codeword candidate in order…
Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
We study a class of aggregate-join queries with multiple aggregation operators evaluated over annotated relations. We show that straightforward extensions of standard multiway join algorithms and generalized hypertree decompositions (GHDs)…
Inverse Kinematics (IK) is a core problem in robotics, in which joint configurations are found to achieve a desired end-effector pose. Although analytical solvers are fast and efficient, they are limited to systems with low…
In this paper we propose an algorithm for the approximate k-Nearest-Neighbors problem. According to the existing researches, there are two kinds of approximation criterion. One is the distance criteria, and the other is the recall criteria.…
Communication-efficient SGD algorithms, which allow nodes to perform local updates and periodically synchronize local models, are highly effective in improving the speed and scalability of distributed SGD. However, a rigorous convergence…
Collaborative perception significantly enhances autonomous driving safety by extending each vehicle's perception range through message sharing among connected and autonomous vehicles. Unfortunately, it is also vulnerable to adversarial…
We consider a well defined joint detection and parameter estimation problem. By combining the Baysian formulation of the estimation subproblem with suitable constraints on the detection subproblem we develop optimum one- and two-step test…
Subgraph matching is a core task in graph analytics, widely used in domains such as biology, finance, and social networks. Existing top-k diversified methods typically focus on maximizing vertex coverage, but often return results in the…
In this paper, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along the polynomial trajectory in cluttered environments including various static obstacle models. Specifically, we find that the…
Bilevel optimization enjoys a wide range of applications in emerging machine learning and signal processing problems such as hyper-parameter optimization, image reconstruction, meta-learning, adversarial training, and reinforcement…
We study the convergence in expectation of the Random Coordinate Descent algorithm (RCD) for solving optimal resource allocations problems in open multi-agent systems, i.e., multi-agent systems that are subject to arrivals and departures of…
We examine an error-correcting coding framework in which each coded symbol is constrained to be a function of a fixed subset of the message symbols. With an eye toward distributed storage applications, we seek to design systematic codes…
This work presents a parallel variant of the algorithm introduced in [Acceleration of block coordinate descent methods with identification strategies Comput. Optim. Appl. 72(3):609--640, 2019] to minimize the sum of a partially separable…
Collision-free motion planning in complex outdoor environments relies heavily on perceiving the surroundings through exteroceptive sensors. A widely used approach represents the environment as a voxelized Euclidean distance field, where…
Advances in deep learning have revolutionized cyber-physical applications, including the development of Autonomous Vehicles. However, real-world collisions involving autonomous control of vehicles have raised significant safety concerns…