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Sparsification of motion-planning roadmaps by edge contraction

Oren Salzman, Doron Shaharabani, Pankaj K. Agarwal, Dan Halperin
2014 The international journal of robotics research  
We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap.  ...  The primitive operation used by RSEC is edge contraction-the contraction of a roadmap edge to a single vertex and the connection of the new vertex to the neighboring vertices of the contracted edge.  ...  The authors wish to thank Barak Raveh for his contribution at the preliminary stages of the this work.  ... 
doi:10.1177/0278364914556517 fatcat:2mruqd5c6rcczojdpu2gefaokq

Sparsification of motion-planning roadmaps by edge contraction

Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal, Dan Halperin
2013 2013 IEEE International Conference on Robotics and Automation  
We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap.  ...  The primitive operation used by RSEC is edge contraction-the contraction of a roadmap edge to a single vertex and the connection of the new vertex to the neighboring vertices of the contracted edge.  ...  The authors wish to thank Barak Raveh for his contribution at the preliminary stages of the this work.  ... 
doi:10.1109/icra.2013.6631155 dblp:conf/icra/ShaharabaniSAH13 fatcat:ctyrpax4pnhynnwocerjgrxnjm

Sparsification of Motion-Planning Roadmaps by Edge Contraction [article]

Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal, Dan Halperin
2012 arXiv   pre-print
We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap.  ...  The primitive operation used by RSEC is edge contraction - the contraction of a roadmap edge to a single vertex and the connection of the new vertex to the neighboring vertices of the contracted edge.  ...  Our algorithm, Roadmap Sparsification by Edge Contraction (RSEC), performs a series of legal edge contractions as detailed in Algorithm 3.  ... 
arXiv:1209.4463v1 fatcat:a65332piznbxflkmgqhafrl7fq

Dagstuhl Reports, Volume 7, Issue 1, January 2017, Complete Issue [article]

2017
by participants from outside the BETTY community.  ...  Behavioural types include session types, typestate, choreographies, and behavioural contracts.  ...  Some approaches split the problem into two, task and motion planning, that are ad-dressed by two types of planning algorithms.  ... 
doi:10.4230/dagrep.7.1 fatcat:eb5yydhkhnb4xpbvalztqllpt4

25th Annual Computational Neuroscience Meeting: CNS-2016

Tatyana O. Sharpee, Alain Destexhe, Mitsuo Kawato, Vladislav Sekulić, Frances K. Skinner, Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári, Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett (+597 others)
2016 BMC Neuroscience  
Part of this complexity is related to the number of different cell types that work together to encode stimuli.  ...  BMC Neuroscience 2016, 17(Suppl 1):A1 Neural circuits are notorious for the complexity of their organization.  ...  Acknowledgements: The work of JB, RG, and SMC was supported in part by R01MH1006674 from the National Institutes of Health.  ... 
doi:10.1186/s12868-016-0283-6 pmid:27534393 pmcid:PMC5001212 fatcat:bt45etzj2bbolfcxlxo7hlv6ju

Dagstuhl Reports, Volume 5, Issue 3, March 2015, Complete Issue [article]

2015
The following list is a first collection of such phenomena.  ...  -Formal Models of Graph Transformation in Natural Language Processing  ...  Wolpert, "Completely Randomized RRT-Connect: A Case Study on 3D Rigid Body Motion Planning," in Proc. of the 2015 IEEE Int'l Conf. on Robotics and Automation (ICRA'15), pp. 2944-2950, IEEE, 2015.  ... 
doi:10.4230/dagrep.5.3 fatcat:frrv4bul5rhfhh3jo4hv5l5uoi

Special Issue: Engineering and Applications of Software Agents

Amelia B˘ Adic˘, Zoran Budimac, Anton Železnikar, Matjaž Gams, Jožef Stefan, Drago Torkar, Jožef Stefan, Juan Carlos, Augusto, Argentina, Vladimir Batagelj, Slovenia (+17 others)
2016 unpublished
The Executive Board is appointed by the Society Informatika. Informatica is partially supported by the Slovenian Ministry of Higher Education, Science and Technology.  ...  Each editor from the Editorial Board can conduct the refereeing process by appointing two new referees or referees from the Board of Referees or Editorial Board.  ...  Acknowledgement This work summarizes doctoral thesis research, supported by the University of Annaba and the University of Tebessa-Algeria.  ... 
fatcat:5sr3s3ousvf7naq3u5lil5ax6e

2014 Jahresbericht Annual Report

Registernummer Amtsgericht, Saarbrücken Hrb, Vorsitzender Des Aufsichtsrates, Ing, Jähnichen Stefan, Raimund Geschäftsführung, Seidel, Heike Meißner, Technisch-Administrative Geschäftsführerin, Gesellschafter
unpublished
The demonstrations presented at the seminar were by: Guido Tack  ...  and explored the possibility of using recent planning tools (heuristic search, sampling-based motion-planning algorithms, symbolic search algorithms, ...) for system falsification (particularly in challenging  ...  Graph size was also a motivation for sparsification as discussed by Parthasarathy, either to save space or running time (or both) in later stages of an algorithmic pipeline.  ... 
fatcat:jojclrrbifa2lgyh3ux4tv7tiu

Reinforcement Learning (Dagstuhl Seminar 13321) The Critical Internet Infrastructure (Dagstuhl Seminar 13322) Coding Theory (Dagstuhl Seminar 13351) Interaction with Information for Visual Reasoning (Dagstuhl Seminar 13352)

Peter Auer, Marcus Hutter, Laurent, Georg Carle, Jochen Schiller, Steve Uhlig, Walter Willinger, Matthias Wählisch, Thore Husfeldt, Ramamohan Paturi, Gregory Sorkin, Ryan Williams (+14 others)
unpublished
We were later joined by Susana: Largely ignored -ICT is needed for bridging these models. Mark: THink of a whirlpool engineer, modern washing machines considers chemicals, mechanical etc. aspects.  ...  They use the same technology as IBM's ink-jet printer from 50 years ago, high dimensional and high throughput, measuring the intensity of the fluorescence (proportional to the number of certain proteins  ...  Options defined by subgoals are shown to be a special case of the sparsification of proximity statistics.  ... 
fatcat:iz3co5xisfejfbnx2t6ptrorfm

Rigorous optimization recipes for sparse and low rank inverse problems with applications in data sciences

Anastasios Kyrillidis
2014
This has a significant practical impact when the evaluation of the functions is expensive.  ...  The step-size corrector then adapts the local information of the function to achieve the best theoretical decrease in the objective function.  ...  For future work, motivated by the overwhelming empirical evidence of the good performance of our approach, we plan to directly analyze the impact of randomization in characterizing the algorithmic performance  ... 
doi:10.5075/epfl-thesis-6350 fatcat:ivqql7lxmveibox2ebwjoa5tg4