Related papers: Edge Nearest Neighbor in Sampling-Based Motion Pla…

Spectral analysis of neighborhood graphs is one of the most widely used techniques for exploratory data analysis, with applications ranging from machine learning to social sciences. In such applications, it is typical to first encode…

Recently similarity graphs became the leading paradigm for efficient nearest neighbor search, outperforming traditional tree-based and LSH-based methods. Similarity graphs perform the search via greedy routing: a query traverses the graph…

We present Local Naive Bayes Nearest Neighbor, an improvement to the NBNN image classification algorithm that increases classification accuracy and improves its ability to scale to large numbers of object classes. The key observation is…

Proximity graph-based methods have emerged as a leading paradigm for approximate nearest neighbor (ANN) search in the system community. This paper presents fresh insights into the theoretical foundation of these methods. We describe an…

In this paper we introduce a simple and intuitive adaptive k nearest neighbours classifier, and explore its utility within the context of bootstrap aggregating ("bagging"). The approach is based on finding discriminant subspaces which are…

Efficiently finding safe and feasible trajectories for mobile objects is a critical field in robotics and computer science. In this paper, we propose SIL-RRT*, a novel learning-based motion planning algorithm that extends the RRT* algorithm…

With the pervasiveness of Stochastic Shortest-Path (SSP) problems in high-risk industries, such as last-mile autonomous delivery and supply chain management, robust planning algorithms are crucial for ensuring successful task completion…

Near neighbor search (NNS) is a powerful abstraction for data access; however, data indexing is troublesome even for approximate indexes. For intrinsically high-dimensional data, high-quality fast searches demand either indexes with…

It is a critical issue to compute the shortest paths between nodes in networks. Exact algorithms for shortest paths are usually inapplicable for large scale networks due to the high computational complexity. In this paper, we propose a…

Nearest neighbors is a successful and long-standing technique for anomaly detection. Significant progress has been recently achieved by self-supervised deep methods (e.g. RotNet). Self-supervised features however typically under-perform…

Approximate nearest neighbor (ANN) search in high-dimensional metric spaces is a fundamental problem with many applications. Over the past decade, proximity graph (PG)-based indexes have demonstrated superior empirical performance over…

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…

Motivated by what is required for real-time path planning, the paper starts out by presenting sRMPD, a new recursive "local" planner founded on the key notion that, unless made necessary by an obstacle, there must be no deviation from the…

Suppose a target is hidden in one of the vertices of an edge-weighted graph according to a known probability distribution. The expanding search problem asks for a search sequence of the vertices so as to minimize the expected time for…

We study the fundamental problem of approximate nearest neighbor search in $d$-dimensional Hamming space $\{0,1\}^d$. We study the complexity of the problem in the famous cell-probe model, a classic model for data structures. We consider…

Approximate nearest neighbor search (ANNS) constitutes an important operation in a multitude of applications, including recommendation systems, information retrieval, and pattern recognition. In the past decade, graph-based ANNS algorithms…

Many popular algorithms for searching the space of leaf-labelled trees are based on tree rearrangement operations. Under any such operation, the problem is reduced to searching a graph where vertices are trees and (undirected) edges are…

Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…

In this paper we investigate the asymptotic optimality property of a randomized sampling based motion planner, namely RRT. We prove that a RRT planner is not an asymptotically optimal motion planner. Our result, while being consistent with…

Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…