Related papers: Sparse-Graph-Enabled Formation Planning for Large-…
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
In this study, we present a novel swarm-based approach for generating optimized stress-aligned trajectories for 3D printing applications. The method utilizes swarming dynamics to simulate the motion of virtual agents along the stress…
Sparsity has been widely recognized as crucial for efficient optimization in graph-based SLAM. Because the sparsity and structure of the SLAM graph reflect the set of incorporated measurements, many methods for sparsification have been…
We study graphons as a non-parametric generalization of stochastic block models, and show how to obtain compactly represented estimators for sparse networks in this framework. Our algorithms and analysis go beyond previous work in several…
In wireless networks characterized by dense connectivity, the significant signaling overhead generated by distributed link scheduling algorithms can exacerbate issues like congestion, energy consumption, and radio footprint expansion. To…
We give a simple algorithm for the dynamic approximate All-Pairs Shortest Paths (APSP) problem. Given a graph $G = (V, E, l)$ with polynomially bounded edge lengths, our data structure processes $|E|$ edge insertions and deletions in total…
Given a graph G and the desired size k in bits, how can we summarize G within k bits, while minimizing the information loss? Large-scale graphs have become omnipresent, posing considerable computational challenges. Analyzing such large…
The current National Airspace System (NAS) is reaching capacity due to increased air traffic, and is based on outdated pre-tactical planning. This study proposes a more dynamic airspace configuration (DAC) approach that could increase…
Path planning for multiple robots (MRPP) represents a task of finding non-colliding paths for robots through which they can navigate from their initial positions to specified goal positions. The problem is usually modeled using undirected…
Dynamic connectivity is a fundamental dynamic graph problem, and recent algorithmic breakthroughs on dynamic graph sketching have reshaped what is theoretically possible: by encoding the graph as per-vertex linear sketches, these algorithms…
In an era of unprecedented deluge of (mostly unstructured) data, graphs are proving more and more useful, across the sciences, as a flexible abstraction to capture complex relationships between complex objects. One of the main challenges…
We present Spartan, a method for training sparse neural network models with a predetermined level of sparsity. Spartan is based on a combination of two techniques: (1) soft top-k masking of low-magnitude parameters via a regularized optimal…
Exploiting sparsity enables hardware systems to run neural networks faster and more energy-efficiently. However, most prior sparsity-centric optimization techniques only accelerate the forward pass of neural networks and usually require an…
A fundamental question that shrouds the emergence of massively parallel computing (MPC) platforms is how can the additional power of the MPC paradigm be leveraged to achieve faster algorithms compared to classical parallel models such as…
Graph Neural Networks (GNNs) have achieved state-of-the-art performance in solving graph classification tasks. However, most GNN architectures aggregate information from all nodes and edges in a graph, regardless of their relevance to the…
A novel multi-robot path planning approach is presented in this paper. Based on the standard Dijkstra, the algorithm looks for the optimal paths for a formation of robots, taking into account the possibility of split and merge. The…
Deep neural networks often suffer from poor generalization caused by complex and non-convex loss landscapes. One of the popular solutions is Sharpness-Aware Minimization (SAM), which smooths the loss landscape via minimizing the maximized…
Graph condensation aims to reduce the size of a large-scale graph dataset by synthesizing a compact counterpart without sacrificing the performance of Graph Neural Networks (GNNs) trained on it, which has shed light on reducing the…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
We consider the problem of high-dimensional Gaussian graphical model selection. We identify a set of graphs for which an efficient estimation algorithm exists, and this algorithm is based on thresholding of empirical conditional…