Related papers: Convexity Helps Iterated Search in 3D
Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…
Nowadays, data is represented by vectors. Retrieving those vectors, among millions and billions, that are similar to a given query is a ubiquitous problem, known as similarity search, of relevance for a wide range of applications.…
Solving inverse problems in natural sciences often requires a search pro- cess to find explanatory models that match collected field data. Inverse problems are often under-determined meaning that there are many poten- tial explanatory…
We consider large-scale, implicit-search-based solutions to Shortest Path Problems on Graphs of Convex Sets (GCS). We propose GCS*, a forward heuristic search algorithm that generalizes A* search to the GCS setting, where a…
Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include hyper-redundant manipulators, snake-like and humanoid…
Cutting plane methods, particularly outer approximation, are a well-established approach for solving nonlinear discrete optimization problems without relaxing the integrality of decision variables. While powerful in theory, their…
In this work, we present a collection of new results on two fundamental problems in geometric data structures: orthogonal point location and rectangle stabbing. -We give the first linear-space data structure that supports 3-d point location…
Let $s$ be a point in a polygonal domain $\mathcal{P}$ of $h-1$ holes and $n$ vertices. We consider a quickest visibility query problem. Given a query point $q$ in $\mathcal{P}$, the goal is to find a shortest path in $\mathcal{P}$ to move…
With the growing interest in quantum machine learning, the perceptron -- a fundamental building block in traditional machine learning -- has emerged as a valuable model for exploring quantum advantages. Two quantum perceptron algorithms…
In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…
Multi-directional 3D printing has the capability of decreasing or eliminating the need for support structures. Recent work proposed a beam-guided search algorithm to find an optimized sequence of plane-clipping, which gives volume…
Many emerging use cases of data mining and machine learning operate on large datasets with data from heterogeneous sources, specifically with both sparse and dense components. For example, dense deep neural network embedding vectors are…
Consider a set $P \subseteq \Re^d$ of $n$ points, and a convex body $C$ provided via a separation oracle. The task at hand is to decide for each point of $P$ if it is in $C$ using the fewest number of oracle queries. We show that one can…
Spatial data is ubiquitous. Massive amounts of data are generated every day from billions of GPS-enabled devices such as cell phones, cars, sensors, and various consumer-based applications such as Uber, Tinder, location-tagged posts in…
Multiview representation learning is very popular for latent factor analysis. It naturally arises in many data analysis, machine learning, and information retrieval applications to model dependent structures among multiple data sources. For…
Let $H$ be an arbitrary family of hyper-planes in $d$-dimensions. We show that the point-location problem for $H$ can be solved by a linear decision tree that only uses a special type of queries called \emph{generalized comparison queries}.…
This paper evaluates several improvements to the memory layout of convex hulls to improve computation times for support point queries. The support point query is a fundamental part of common collision algorithms, and the work presented…
We present linear time {\it in-place} algorithms for several basic and fundamental graph problems including the well-known graph search methods (like depth-first search, breadth-first search, maximum cardinality search), connectivity…
Due to the growth of geo-tagged images, recent web and mobile applications provide search capabilities for images that are similar to a given query image and simultaneously within a given geographical area. In this paper, we focus on…
Estimating the rigid transformation with 6 degrees of freedom based on a putative 3D correspondence set is a crucial procedure in point cloud registration. Existing correspondence identification methods usually lead to large outlier ratios…