On transitive orientations with restricted covering graphs

We consider the problem of finding a transitive orientation of a comparability graph, such that the edge set of its covering graph contains a given subset of edges. We propose a solution which employs the classical technique of modular tree decomposition. The method leads to a polynomial time algorithm to construct such an orientation or report that it does not exist.     

Super restricted edge connected Cartesian product graphs

An edge-cut F of a connected graph G is called a restricted edge-cut if G−F contains no isolated vertices. The minimum cardinality of all restricted edge-cuts is called the restricted edge-connectivity λ^′(G) of G. A graph G is said to be λ^′-optimal if λ^′(G)=ξ(G), where ξ(G) is the minimum edge-degree of G. A graph is said to be super-λ^′ if every minimum restricted edge-cut isolates an edge. This article gives a sufficient condition for Cartesian product graphs to be super-λ^′. Using this result, certain classes of networks which are recursively defined by the Cartesian product can be simply shown to be super-λ^′.     

Characterizations for restricted graphs of NLC-width 2

In this paper we give a finite forbidden subgraph characterization of graphs defined by NLC-width 2-expressions, by NLCT-width 2-expressions, or by linear NLC-width 2-expressions that have tree-width 1.     

Algorithms for derivation of structurally stable Hamiltonian signed graphs

A graph S_p,q,n refers to a signed graph with p nodes and q edges with n being the number of negative edges. We introduce two theorems to facilitate identification of the complete set of balanced signed graph configurations for any p-node Hamiltonian signed graph in terms of p, q and n. This allows for the development of computational procedures to efficiently determine the structural stability of a signed graph. This is potentially useful for the planning and analysis of complex situations or scenarios which can be depicted as signed graphs. Through the application of the theorems, the state of balance of a signed graph structure or its affinity towards balance can be determined in a more time-efficient manner compared to any explicit enumeration algorithm.     

State agnostic planning graphs: deterministic,non-deterministic,and probabilistic planning

Planning graphs have been shown to be a rich source of heuristic information for many kinds of planners. In many cases, planners must compute a planning graph for each element of a set of states, and the naive technique enumerates the graphs individually. This is equivalent to solving a multiple-source shortest path problem by iterating a single-source algorithm over each source.We introduce a data-structure, the state agnostic planning graph, that directly solves the multiple-source problem for the relaxation introduced by planning graphs. The technique can also be characterized as exploiting the overlap present in sets of planning graphs. For the purpose of exposition, we first present the technique in deterministic (classical) planning to capture a set of planning graphs used in forward chaining search. A more prominent application of this technique is in conformant and conditional planning (i.e., search in belief state space), where each search node utilizes a set of planning graphs; an optimization to exploit state overlap between belief states collapses the set of sets of planning graphs to a single set. We describe another extension in conformant probabilistic planning that reuses planning graph samples of probabilistic action outcomes across search nodes to otherwise curb the inherent prediction cost associated with handling probabilistic actions. Finally, we show how to extract a state agnostic relaxed plan that implicitly solves the relaxed planning problem in each of the planning graphs represented by the state agnostic planning graph and reduces each heuristic evaluation to counting the relevant actions in the state agnostic relaxed plan. Our experimental evaluation (using many existing International Planning Competition problems from classical and non-deterministic conformant tracks) quantifies each of these performance boosts, and demonstrates that heuristic belief state space progression planning using our technique is competitive with the state of the art.     

UAV path planning method for avoiding restricted areas

Intelligent Service Robotics - Recently, the industry of drone systems has come into the spotlight because a new potential market has been revealed. A considerable number of drones are deployed...     

Distributed minimum dominating set approximations in restricted families of graphs

A dominating set is a subset of the nodes of a graph such that all nodes are in the set or adjacent to a node in the set. A minimum dominating set approximation is a dominating set that is not much larger than a dominating set with the fewest possible number of nodes. This article summarizes the state-of-the-art with respect to finding minimum dominating set approximations in distributed systems, where each node locally executes a protocol on its own, communicating with its neighbors in order to achieve a solution with good global properties. Moreover, we present a number of recent results for specific families of graphs in detail. A unit disk graph is given by an embedding of the nodes in the Euclidean plane, where two nodes are joined by an edge exactly if they are in distance at most one. For this family of graphs, we prove an asymptotically tight lower bound on the trade-off between time complexity and approximation ratio of deterministic algorithms. Next, we consider graphs of small arboricity, whose edge sets can be decomposed into a small number of forests. We give two algorithms, a randomized one excelling in its approximation ratio and a uniform deterministic one which is faster and simpler. Finally, we show that in planar graphs, which can be drawn in the Euclidean plane without intersecting edges, a constant approximation factor can be ensured within a constant number of communication rounds.     

Hybrid ant colony algorithms for path planning in sparse graphs

The general problem of path planning can be modeled as a traveling salesman problem which assumes that a graph is fully connected. Such a scenario of full connectivity is however not always realistic. One such motivating example for us is the application of path planning for unmanned reconnaissance aerial vehicles (URAVs). URAVs are widely deployed for photography or imagery gathering missions of sites of interest. These sites can be targets in a combat zone to be investigated or sites inaccessible by ground transportation, such as those hit by forest fires, earthquake or other forms of natural disasters. The navigation environment is one where the overall configuration of the problem is a sparse graph. Unlike graphs that are fully connected, sparse graphs are not always Hamiltonian. In this paper, we describe hybrid ant colony algorithms (HACAs) proposed for path planning in sparse graphs since existing ant colony solvers designed for solving TSP do not apply to the present context directly. HACAs represent ant inspired algorithms incorporated with a local search procedure and some heuristic techniques for uncovering feasible route(s) or path(s) in a sparse graph within tractable time. Empirical results conducted on a set of generated sparse graphs demonstrate the excellent convergence property and robustness of HACAs in uncovering low risk and Hamiltonian visitation paths. Further, the obtained results also indicate that HACAs converge to secondary closed paths in situations where a Hamiltonian cycle does not exist theoretically or is not attainable within the bounded computational time window.     

Real-time path planning in dynamic virtual environments using multiagent navigation graphs

We present a novel approach for efficient path planning and navigation of multiple virtual agents in complex dynamic scenes. We introduce a new data structure, Multi-agent Navigation Graph (MaNG), which is constructed using first- and second-order Voronoi diagrams. The MaNG is used to perform route planning and proximity computations for each agent in real time. Moreover, we use the path information and proximity relationships for local dynamics computation of each agent by extending a social force model [Helbing05]. We compute the MaNG using graphics hardware and present culling techniques to accelerate the computation. We also address undersampling issues and present techniques to improve the accuracy of our algorithm. Our algorithm is used for real-time multi-agent planning in pursuit-evasion, terrain exploration and crowd simulation scenarios consisting of hundreds of moving agents, each with a distinct goal.     

Causal invertibility

It is well known that in a given resolution space structure the inverse of a memoryless operator, when it exists, is also memoryless. Given a Hilbert resolution space, we define new resolution structures which preserve causality. We show that every causal, causally invertible operator can be viewed as a memoryless operator between resolution spaces. The characterization is both necessary and sufficient. We also identify causal operators which can be considered as memoryless in a suitable resolution space.     

Motion planning of multiple mobile robots by a combination of learned visibility graphs and virtual impedance

A motion planning algorithm for multiple mobile robots is proposed in this paper. A hierarchical architecture with two layers 'learned visibility graph layer (upper layer)' and 'virtual impedance layer (lower layer)' (one of the potential field planning method) is presented. This system has the following characteristics: (1) is applicable to unknown dynamic environments, (2) is applicable to distributed multiple robot systems and (3) is capable of adequate path generation and motion. At the upper layer, efficient exploration of environments makes it possible to generate sub-shortest paths that avoid static obstacles. At the lower layer, on-line avoidance can be made with virtual impedance against moving obstacles such as other robots. Simulation results show the validity of the proposed method.     

Rediscover flowers structurally

Existing methods for flower classification are usually focused on segmentation of the foreground, followed by extraction of features. After extracting the features from the foreground, global pooling is performed for final classification. Although this pipeline can be applied to many recognition tasks, however, these approaches have not explored structural cues of the flowers due to the large variation in their appearances. In this paper, we argue that structural cues are essential for flower recognition. We present a novel approach that explores structural cues to extract features. The proposed method encodes the structure of flowers into the final feature vectors for classification by operating on salient regions, which is robust to appearance variations. In our framework, we first segment the flower accurately by refining the existing segmentation method, and then we generate local features using our approach. We combine our local feature with global-pooled features for classification. Evaluations on the Oxford Flower dataset shows that by introducing the structural cues and locally pooling of some off-the-shelf features, our method outperforms the state-of-the-arts which employ specific designed features and metric learning.     

Action-Based Causal Reasoning

In this paper we present a causal theory based on aninterventionist conception of causality, i.e., a preference toselect causes among a set of actions which an agent has the abilityto perform or not to perform (free will). The most interestingproposals encountered in the literature, in nonmonotonic reasoning,all revolve around the ordered notion of similarity, abnormality,preference etc... but do not provide a full-fledgedsolution to the problem of the concrete definition of this order. Inour approach we relate the notion of action to norms (what isnormally the case when an action is undertaken, what is normally theoutcome of that action) and considering reasonable assumptions, weshow the existence and uniqueness of the set of voluntary causes foran observed effect (explanation problem). Moreover, the approach advocated in this paper handles ramifications correctly.     

Temporal Causal Abduction

The paper is devoted to presentation of the idea of Temporal Causal Networks (TCN). Temporal Causal Networks constitute a tool for representing and dealing with causal dependencies propagation over time. A temporal causal network is a causal network incorporating explicit representation of time during which its symptoms/nodes are valid, not valid, or unknown. The atemporal causal structure is basically an AND/OR/NOT causal graph, i.e. a causal graph incorporating basic logical connectives for the representation of different types of causal dependencies. The presented approach uses a specific time constraints propagation algorithm to determine possible system behavior in time. The main application includes simulation, monitoring and elements of diagnostic reasoning for dynamic systems with explicit time representation.     

Causal dynamic inference

We suggest a general logical framework for causal dynamic reasoning. As a first step, we introduce a uniform structural formalism and assign it two kinds of semantics, abstract dynamic models and relational models. The corresponding completeness results are proved. As a second step, we extend the structural formalism to a two-sorted state-transition calculus, and prove its completeness with respect to the associated relational semantics.     

Animating Causal Overlays

Most approaches to representing causality, such as the common causal graph, require a separate and static view, but in many cases it is useful to add the dimension of causality to the context of an existing visualization. Building on research from perceptual psychology that shows the perception of causality is a low‐level visual event derived from certain types of motion, we are investigating how to add animated causal representations, called visual causal vectors, onto other visualizations. We refer to these as causal overlays. Our initial experimental results show this approach has great potential but that extra cues are needed to elicit the perception of causality when the motions are overlaid on other graphical objects. In this paper we describe the approach and report on a study that examined two issues of this technique: how to accurately convey the causal flow and how to represent the strength of the causal effect.