Related papers: ikd-Tree: An Incremental K-D Tree for Robotic Appl…
Dynamic programming on tree decompositions is a frequently used approach to solve otherwise intractable problems on instances of small treewidth. In recent work by Bodlaender et al., it was shown that for many connectivity problems, there…
We present a dynamic self-balancing octree data structure that enables efficient neighborhood maintenance in evolving metric spaces, a key challenge in modern machine learning systems. Many learning and generative models operate as…
In particle simulations, the weights of particles determine how many physical particles they represent. Adaptively adjusting these weights can greatly improve the efficiency of the simulation, without creating severe nonphysical artifacts.…
We present a novel distributed union-find algorithm that features asynchronous parallelism and k-d tree based load balancing for scalable visualization and analysis of scientific data. Applications of union-find include level set extraction…
We study the integration of machine learning advice to improve upon traditional data structure designed for efficient search queries. Although there has been recent effort in improving the performance of binary search trees using machine…
The original description of the k-d tree recognized that rebalancing techniques, used for building an AVL or red-black tree, are not applicable to a k-d tree, because these techniques involve cyclic exchange of tree nodes that violates the…
Tree embedding has been a fundamental method in algorithm design with wide applications. We focus on the efficiency of building tree embedding in various computational settings under high-dimensional Euclidean $\mathbb{R}^d$. We devise a…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
We introduce top trees as a design of a new simpler interface for data structures maintaining information in a fully-dynamic forest. We demonstrate how easy and versatile they are to use on a host of different applications. For example, we…
In constrained solution spaces with a huge number of homotopy classes, stand-alone sampling-based kinodynamic planners suffer low efficiency in convergence. Local optimization is integrated to alleviate this problem. In this paper, we…
This paper revisits the numerical inverse kinematics (IK) problem, leveraging modern computational resources and refining the seed selection process to develop a solver that is competitive with analytical-based methods. The proposed seed…
Building concurrent spatial trees is more complicated than binary search trees since a space hierarchy should be preserved during modifications. We present a non-blocking quadtree-quadboost-that supports concurrent insert, remove, move, and…
Analysing and learning from spatio-temporal datasets is an important process in many domains, including transportation, healthcare and meteorology. In particular, data collected by sensors in the environment allows us to understand and…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
Range queries over multidimensional data are an important part of database workloads in many applications. Their execution may be accelerated by using multidimensional index structures (MDIS), such as kd-trees or R-trees. As for most index…
In a variety of applications, we need to keep track of the development of a data set over time. For maintaining and querying this multi version data I/O-efficiently, external memory data structures are required. In this paper, we present a…
Connectivity queries, which check whether vertices belong to the same connected component, are fundamental in graph computations. Sliding window connectivity processes these queries over sliding windows, facilitating real-time streaming…
Dynamic trees are a well-studied and fundamental building block of dynamic graph algorithms dating back to the seminal work of Sleator and Tarjan [STOC'81, (1981), pp. 114-122]. The problem is to maintain a tree subject to online edge…
This paper describes the most efficient way to manage operations on ranges of elements within an ordered set. The goal is to improve existing solutions, by optimizing the average-case time complexity and getting rid of heavy multiplicative…
The sampling based motion planning algorithm known as Rapidly-exploring Random Trees (RRT) has gained the attention of many researchers due to their computational efficiency and effectiveness. Recently, a variant of RRT called RRT* has been…