Related papers: A novel conjunction filter based on the minimum di…
Low-order hybridization expansion methods such as the non-crossing approximation (NCA) and the one-crossing approximation (OCA) are widely used impurity solvers in the study of strongly correlated systems, yet their accuracy in genuine…
In this paper, we consider the problem of planning a path for a robot to monitor a known set of features of interest in an environment. We represent the environment as a graph with vertex weights and edge lengths. The vertices represent…
Given $x \in (\mathbb{R}_{\geq 0})^{\binom{[n]}{2}}$ recording pairwise distances, the METRIC VIOLATION DISTANCE (MVD) problem asks to compute the $\ell_0$ distance between $x$ and the metric cone; i.e., modify the minimum number of entries…
Tree rotations (left and right) are basic local deformations allowing to transform between two unlabeled binary trees of the same size. Hence, there is a natural problem of practically finding such transformation path with low number of…
We develop new perturbation techniques for conducting convergence analysis of various first-order algorithms for a class of nonsmooth optimization problems. We consider the iteration scheme of an algorithm to construct a perturbed…
The paper is concerned with elongating the shortest curvature-bounded path between two oriented points to an expected length. The elongation of curvature-bounded paths to an expected length is fundamentally important to plan missions for…
A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given endeffector path in the Cartesian space. In this paper, we present a…
This paper presents a novel algorithm to incorporate orbital parameters into radar ambiguity function expressions by extending the standard ambiguity function to match Keplerian two-body orbits. A coherent orbital matched-filter will…
We developed a minimum-cost circulation framework for solving the global data association problem, which plays a key role in the tracking-by-detection paradigm of multi-object tracking. The global data association problem was extensively…
We study the possible values of the nodal distance $\delta_{\rm nod}$ between two non-coplanar Keplerian trajectories ${\cal A}, {\cal A}'$ with a common focus. In particular, given ${\cal A}'$ and assuming it is bounded, we compute optimal…
The precise tracking of micron sized colloidal particles - held in the vicinity of each other using optical tweezers - is an elegant way to gain information about the particle-particle pair interaction potential. The accuracy of the method,…
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…
In this work, we provide faster algorithms for approximating the optimal transport distance, e.g. earth mover's distance, between two discrete probability distributions $\mu, \nu \in \Delta^n$. Given a cost function $C : [n] \times [n] \to…
A reliable sense-and-avoid system is critical to enabling safe autonomous operation of unmanned aircraft. Existing sense-and-avoid methods often require specialized sensors that are too large or power intensive for use on small unmanned…
Camera motion estimation from observed scene features is an important task in image processing to increase the accuracy of many methods, e.g. optical flow and structure-from-motion. Due to the curved geometry of the state space SE(3) and…
We investigate the problem of efficiently computing optimal transport (OT) distances, which is equivalent to the node-capacitated minimum cost maximum flow problem in a bipartite graph. We compare runtimes in computing OT distances on data…
We introduce a method for efficiently computing the exact shortest path to the boundary of a mesh from a given internal point in the presence of self-intersections. We provide a formal definition of shortest boundary paths for…
Compact objects evolving in an astrophysical environment experience a gravitational drag force known as dynamical friction. We present a multipole-frequency decomposition to evaluate the orbit-averaged energy and angular momentum…
Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…
The Hybrid network model was introduced in [Augustine et al., SODA '20] for laying down a theoretical foundation for networks which combine two possible modes of communication: One mode allows high-bandwidth communication with neighboring…