Related papers: A coordination-free, convergent, and safe replicat…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
The $k$d-tree is one of the most widely used data structures to manage multi-dimensional data. Due to the ever-growing data volume, it is imperative to consider parallelism in $k$d-trees. However, we observed challenges in existing parallel…
Randomized experiments have been critical tools of decision making for decades. However, subjects can show significant heterogeneity in response to treatments in many important applications. Therefore it is not enough to simply know which…
We introduce dynamic smooth (a.k.a. balanced) compressed quadtrees with worst-case constant time updates in constant dimensions. We distinguish two versions of the problem. First, we show that quadtrees as a space-division data structure…
We present a new universal source code for distributions of unlabeled binary and ordinal trees that achieves optimal compression to within lower order terms for all tree sources covered by existing universal codes. At the same time, it…
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Connect, propagates in both forward and backward directions in…
Ordered sets and maps play important roles as index structures in relational data models. When a shared index in a multi-user system is modified concurrently, the current state of the index will diverge into multiple versions containing the…
This paper studies the problem of distributed optimal coordination (DOC) for a class of nonlinear large-scale cyber-physical systems (CPSs) in the presence of cyber attacks. A secure DOC architecture with attack diagnosis is proposed that…
A CRDT is a data type whose operations commute when they are concurrent. Replicas of a CRDT eventually converge without any complex concurrency control. As an existence proof, we exhibit a non-trivial CRDT: a shared edit buffer called…
Graph search and sparse data-structure traversal workloads contain challenging irregular memory patterns on global data structures that need to be modified atomically. Distributed processing of these workloads has relied on server threads…
This paper considers the cluster synchronization problem of generic linear dynamical systems whose system models are distinct in different clusters. These nonidentical linear models render control design and coupling conditions highly…
We present Collaborative Trees, a novel tree model designed for regression prediction, along with its bagging version, which aims to analyze complex statistical associations between features and uncover potential patterns inherent in the…
Rollback recovery strategies are well-known in concurrent and distributed systems. In this context, recovering from unexpected failures is even more relevant given the non-deterministic nature of execution, which means that it is…
We study safety verification for multithreaded programs with recursive parallelism (i.e. unbounded thread creation and recursion) as well as unbounded integer variables. Since the threads in each program configuration are structured in a…
We introduce a modified model of random walk, and then develop two novel clustering algorithms based on it. In the algorithms, each data point in a dataset is considered as a particle which can move at random in space according to the…
We study the problem of efficient adversarial attacks on tree based ensembles such as gradient boosting decision trees (GBDTs) and random forests (RFs). Since these models are non-continuous step functions and gradient does not exist, most…
Due to the big size of data and limited data storage volume of a single computer or a single server, data are often stored in a distributed manner. Thus, performing large-scale machine learning operations with the distributed datasets…
Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…