Related papers: An Efficient Approach to Move Elements in a Distri…
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…
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 investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
Today's communication networks have stringent availability requirements and hence need to rapidly restore connectivity after failures. Modern networks thus implement various forms of fast reroute mechanisms in the data plane, to bridge the…
We present a scalable tree search planning algorithm for large multi-agent sequential decision problems that require dynamic collaboration. Teams of agents need to coordinate decisions in many domains, but naive approaches fail due to the…
In this paper, we propose the distributed tree kernels (DTK) as a novel method to reduce time and space complexity of tree kernels. Using a linear complexity algorithm to compute vectors for trees, we embed feature spaces of tree fragments…
The Binary Space Partitioning-Tree~(BSP-Tree) process was recently proposed as an efficient strategy for space partitioning tasks. Because it uses more than one dimension to partition the space, the BSP-Tree Process is more efficient and…
The dynamic trees problem is to maintain a forest subject to edge insertions and deletions while facilitating queries such as connectivity, path weights, and subtree weights. Dynamic trees are a fundamental building block of a large number…
This paper proposes a rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HyRRT, randomly picks a state sample and extends the search tree…
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…
This paper presents a distributed approach that scales up to segment tree crowns within a LiDAR point cloud representing an arbitrarily large forested area. The approach uses a single-processor tree segmentation algorithm as a building…
An increasing number of mobile applications share location-dependent information, from collaborative applications and social networks to location-based games. For such applications, peer-to-peer architectures where mobile devices share…
Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited buffer space for temporary placements. The complexity…
Transaction scheduling is crucial to efficiently allocate shared resources in a conflict-free manner in distributed systems. We investigate the efficient scheduling of transactions in a network of fog-cloud computing model, where…
In modern computer systems, jobs are divided into short tasks and executed in parallel. Empirical observations in practical systems suggest that the task service times are highly random and the job service time is bottlenecked by the…
We study the complexity of finding communication trees with the lowest possible completion time for rooted, irregular gather and scatter collective communication operations in fully connected, $k$-ported communication networks under a…
Containment-based trees encompass various handy structures such as B+-trees, R-trees and M-trees. They are widely used to build data indexes, range-queryable overlays, publish/subscribe systems both in centralized and distributed contexts.…
Performance and reliability of content access in mobile networks is conditioned by the number and location of content replicas deployed at the network nodes. Facility location theory has been the traditional, centralized approach to study…
All-pairs compute problems apply a user-defined function to each combination of two items of a given data set. Although these problems present an abundance of parallelism, data reuse must be exploited to achieve good performance. Several…
Dynamic techniques are a scalable and effective way to analyze concurrent programs. Instead of analyzing all behaviors of a program, these techniques detect errors by focusing on a single program execution. Often a crucial step in these…