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In this paper, we investigate adaptive nonlinear regression and introduce tree based piecewise linear regression algorithms that are highly efficient and provide significantly improved performance with guaranteed upper bounds in an…
Small devices collecting data for agricultural, environmental, and industrial monitoring enable Internet of Things (IoT) applications. Given their critical role in data collection, there is a need for optimizations to improve on-device data…
The tree is an essential data structure in many applications. In a distributed application, such as a distributed file system, the tree is replicated.To improve performance and availability, different clients should be able to update their…
Motion planning for robotic systems with complex dynamics is a challenging problem. While recent sampling-based algorithms achieve asymptotic optimality by propagating random control inputs, their empirical convergence rate is often poor,…
In this paper we study the Steiner tree problem over a dynamic set of terminals. We consider the model where we are given an $n$-vertex graph $G=(V,E,w)$ with positive real edge weights, and our goal is to maintain a tree which is a good…
Motion planning is challenging when it comes to the case of imperfect state information. Decision should be made based on belief state which evolves according to the noise from the system dynamics and sensor measurement. In this paper, we…
With the rapid development of mobile computing and Web services, a huge amount of data with spatial and temporal information have been collected everyday by smart mobile terminals, in which an object is described by its spatial information…
This paper introduces the Partition Tree Weighting technique, an efficient meta-algorithm for piecewise stationary sources. The technique works by performing Bayesian model averaging over a large class of possible partitions of the data…
Gradient Boosting Decision Tree (GBDT) is one of the most popular machine learning models in various applications. However, in the traditional settings, all data should be simultaneously accessed in the training procedure: it does not allow…
The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-based planners like the Rapidly-Exploring Random Tree (RRT)…
N-body algorithms for long-range unscreened interactions like gravity belong to a class of highly irregular problems whose optimal solution is a challenging task for present-day massively parallel computers. In this paper we describe a…
The segment tree is an extremely versatile data structure. In this paper, a new heap based implementation of segment trees is proposed. In such an implementation of segment tree, the structural information associated with the tree nodes can…
Gravitational $N$-body simulations calculate numerous interactions between particles. The tree algorithm reduces these calculations by constructing a hierarchical oct-tree structure and approximating gravitational forces on particles. Over…
We propose BS-tree, an in-memory implementation of the B+-tree that adopts the structure of the disk-based index (i.e., a balanced, multiway tree), setting the node size to a memory block that can be processed fast and in parallel using…
Machine perception applications are increasingly moving toward manipulating and processing 3D point cloud. This paper focuses on point cloud registration, a key primitive of 3D data processing widely used in high-level tasks such as…
Updating and querying on a range is a classical algorithmic problem with a multitude of applications. The Segment Tree data structure is particularly notable in handling the range query and update operations. A Segment Tree divides the…
Treemaps have been widely applied to the visualization of hierarchical data. A treemap takes a weighted tree and visualizes its leaves in a nested planar geometric shape, with sub-regions partitioned such that each sub-region has an area…
Contemporary accelerator designs exhibit a high degree of spatial localization, wherein two-dimensional physical distance determines communication costs between processing elements. This situation presents considerable algorithmic…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
Connectivity query processing is a fundamental problem in graph processing. Given an undirected graph and two query vertices, the problem aims to identify whether they are connected via a path. Given frequent edge updates in real graph…