相关论文: The Critical Radius in Sampling-based Motion Plann…
We consider a continuum percolation model on $\R^d$, where $d\geq 4$.The occupied set is given by the union of independent Wiener sausages with radius $r$ running up to time $t$ and whoseinitial points are distributed according to a…
The dissertation is related to combinatorial geometry with a strong probabilistic flavor. The main results can be split into three parts. The results of the first part guarantee that each "unit distance graph" in the plane has an induced…
This work extends Roberts et al. (1997) by considering limits of Random Walk Metropolis (RWM) applied to block IID target distributions, with corresponding block-independent proposals. The extension verifies the robustness of the optimal…
We consider the problem of reconstructing an unknown function $u\in L^2(D,\mu)$ from its evaluations at given sampling points $x^1,\dots,x^m\in D$, where $D\subset \mathbb R^d$ is a general domain and $\mu$ a probability measure. The…
Let a random geometric graph be defined in the supercritical regime for the existence of a unique infinite connected component in Euclidean space. Consider the first-passage percolation model with independent and identically distributed…
We design and mathematically analyze sampling-based algorithms for regularized loss minimization problems that are implementable in popular computational models for large data, in which the access to the data is restricted in some way. Our…
The asymptotic shape theorem for the contact process in random environment gives the existence of a norm $\mu$ on $\Rd$ such that the hitting time $t(x)$ is asymptotically equivalent to $\mu(x)$ when the contact process survives. We provide…
In this paper, we propose a sampling-based planning and optimal control method of nonlinear systems under non-differentiable constraints. Motivated by developing scalable planning algorithms, we consider the optimal motion plan to be a…
The intrinsic geometry of the critical percolation cluster induced by the level set of the metric Gaussian free field on $\mathbb{Z}^{d}$ has been the subject of much recent activity. (Lupu, 2016) established that the critical percolation…
The extremal dependence structure of a regularly varying $d$-dimensional random vector can be described by its angular measure. The standard nonparametric estimator of this measure is the empirical measure of the observed angles of the $k$…
We prove quasi-multiplicativity for critical level-sets of Gaussian free fields (GFF) on the metric graphs $\widetilde{\mathbb{Z}}^d$ ($d\ge 3$). Specifically, we study the probability of connecting two general sets located on opposite…
An asymptotically optimal sampling-based planner employs sampling to solve robot motion planning problems and returns paths with a cost that converges to the optimal solution cost, as the number of samples approaches infinity. This…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
This paper develops a new technique for proving amortized, randomized cell-probe lower bounds on dynamic data structure problems. We introduce a new randomized nondeterministic four-party communication model that enables "accelerated",…
Turn the set of permutations of $n$ objects into a graph $G_n$ by connecting two permutations that differ by one transposition, and let $\sigma_t$ be the simple random walk on this graph. In a previous paper, Berestycki and Durrett [In…
We consider the Erdos-Renyi random graph G(n,p) inside the critical window, that is when p=1/n+ lambda*n^{-4/3}, for some fixed lambda in R. Then, as a metric space with the graph distance rescaled by n^{-1/3}, the sequence of connected…
We investigate the minimal error in approximating a general probability measure $\mu$ on $\mathbb{R}^d$ by the uniform measure on a finite set with prescribed cardinality $n$. The error is measured in the $p$-Wasserstein distance. In…
We show that for all $d\in \{3,\ldots,n-1\}$ the size of the largest component of a random $d$-regular graph on $n$ vertices around the percolation threshold $p=1/(d-1)$ is $\Theta(n^{2/3})$, with high probability. This extends known…
Sampling-based motion planners (SBMPs) are widely used to compute dynamically feasible robot paths. However, their reliance on uniform sampling often leads to poor efficiency and slow planning in complex environments. We introduce a novel…
We describe the critical window for percolation in the universality class of sparse growing random graphs. In our models, vertices arrive sequentially and connect independently to each earlier vertex $v$ with probability proportional to a…