Chris Harrelson

Bio: Chris Harrelson is an academic researcher from University of California, Berkeley. The author has contributed to research in topics: Approximation algorithm & Travelling salesman problem. The author has an hindex of 8, co-authored 10 publications receiving 1465 citations. Previous affiliations of Chris Harrelson include Google.

Computing the shortest path: A search meets graph theory

Abstract: We propose shortest path algorithms that use A* search in combination with a new graph-theoretic lower-bounding technique based on landmarks and the triangle inequality. Our algorithms compute optimal shortest paths and work on any directed graph. We give experimental results showing that the most efficient of our new algorithms outperforms previous algorithms, in particular A* search with Euclidean bounds, by a wide margin on road networks and on some synthetic problem families.

Fast routing in very large public transportation networks using transfer patterns

Abstract: We show how to route on very large public transportation networks (up to half a billion arcs) with average query times of a few milliseconds. We take into account many realistic features like: traffic days, walking between stations, queries between geographic locations instead of a source and a target station, and multi-criteria cost functions. Our algorithm is based on two key observations: (1) many shortest paths share the same transfer pattern, i.e., the sequence of stations where a change of vehicle occurs; (2) direct connections without change of vehicle can be looked up quickly. We precompute the respective data; in practice, this can be done in time linear in the network size, at the expense of a small fraction of non-optimal results. We have accelerated public transportation routing on Google Maps with a system based on our ideas. We report experimental results for three data sets of various kinds and sizes.

A polynomial-time tree decomposition to minimize congestion

Abstract: Racke recently gave a remarkable proof showing that any undirected multicommodity flow problem can be routed in an oblivious fashion with congestion that is within a factor of O(log3 n) of the best off-line solution to the problem. He also presented interesting applications of this result to distributed computing. Maggs, Miller, Parekh, Ravi and Wu have shown that such a decomposition also has an application to speeding up iterative solvers of linear systems. Racke's construction finds a decomposition tree of the underlying graph, along with a method to obliviously route in a hierarchical fashion on the tree. The construction, however, uses exponential-time procedures to build the decomposition. The non-constructive nature of his result was remedied, in part, by Azar, Cohen, Fiat, Kaplan, and Racke, who gave a polynomial time method for building an oblivious routing strategy. Their construction was not based on finding a hierarchical decomposition, and this precludes its application to iterative methods for solving linear systems. In this paper, we show how to compute a hierarchical decomposition and a corresponding oblivious routing strategy in polynomial time. In addition, our decomposition gives an improved competitive ratio for congestion of O(log2n log log n). In an independent result in this conference, Bienkowski, Korzeniowski, and Racke give a polynomial-time method for constructing a decomposition tree with competitive ratio O(log4n). We note that our original submission used essentially the same algorithm, and we appreciate them allowing us to present this improved version.

Transit routing system for public transportation trip planning

Abstract: A public transit travel planning system and methodology that uses an extensive pre-processing approach of transit information prior to query time on order to determine optimal public transit routes for journeys. At query time, since the transit information has already been processed by the system, very little computation is needed in order to fulfill the query. The system then provides users with public transit directions in response to the queries for public transit journeys.

The k-traveling repairman problem

Abstract: We consider the k-traveling repairman problem, a generalization of the metric traveling repairman problem, also known as the minimum latency problem, to multiple repairmen. We give an 8.497α-approximation algorithm for this generalization, where α denotes the best achievable approximation factor for the problem of finding the least cost rooted tree spanning i vertices (i-MST) problem. This can be compared with the best known approximation algorithm for the case k = 1, which is 3.59α. We are aware of no previous work on the approximability of the present problem.In addition, we give a simple proof of the 3.59αapproximation result which can be extended to the case of multiple repairmen.

IEEE transactions on pattern analysis and machine intelligence

Abstract: In the real world, a realistic setting for computer vision or multimedia recognition problems is that we have some classes containing lots of training data and many classes contain a small amount of training data. Therefore, how to use frequent classes to help learning rare classes for which it is harder to collect the training data is an open question. Learning with Shared Information is an emerging topic in machine learning, computer vision and multimedia analysis. There are different level of components that can be shared during concept modeling and machine learning stages, such as sharing generic object parts, sharing attributes, sharing transformations, sharing regularization parameters and sharing training examples, etc. Regarding the specific methods, multi-task learning, transfer learning and deep learning can be seen as using different strategies to share information. These learning with shared information methods are very effective in solving real-world large-scale problems. This special issue aims at gathering the recent advances in learning with shared information methods and their applications in computer vision and multimedia analysis. Both state-of-the-art works, as well as literature reviews, are welcome for submission. Papers addressing interesting real-world computer vision and multimedia applications are especially encouraged. Topics of interest include, but are not limited to: • Multi-task learning or transfer learning for large-scale computer vision and multimedia analysis • Deep learning for large-scale computer vision and multimedia analysis • Multi-modal approach for large-scale computer vision and multimedia analysis • Different sharing strategies, e.g., sharing generic object parts, sharing attributes, sharing transformations, sharing regularization parameters and sharing training examples, • Real-world computer vision and multimedia applications based on learning with shared information, e.g., event detection, object recognition, object detection, action recognition, human head pose estimation, object tracking, location-based services, semantic indexing. • New datasets and metrics to evaluate the benefit of the proposed sharing ability for the specific computer vision or multimedia problem. • Survey papers regarding the topic of learning with shared information. Authors who are unsure whether their planned submission is in scope may contact the guest editors prior to the submission deadline with an abstract, in order to receive feedback.

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

Abstract: Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side by side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.

A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems

Abstract: Despite more than a decade of experimental work in multi-robot systems, important theoretical aspects of multi-robot coordination mechanisms have, to date, been largely untreated. To address this issue, we focus on the problem of multi-robot task allocation (MRTA). Most work on MRTA has been ad hoc and empirical, with many coordination architectures having been proposed and validated in a proof-of-concept fashion, but infrequently analyzed. With the goal of bringing objective grounding to this important area of research, we present a formal study of MRTA problems. A domain-independent taxonomy of MRTA problems is given, and it is shown how many such problems can be viewed as instances of other, well-studied, optimization problems. We demonstrate how relevant theory from operations research and combinatorial optimization can be used for analysis and greater understanding of existing approaches to task allocation, and show how the same theory can be used in the synthesis of new approaches.

A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles

Abstract: Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.

A tight bound on approximating arbitrary metrics by tree metrics

Abstract: In this paper, we show that any n point metric space can be embedded into a distribution over dominating tree metrics such that the expected stretch of any edge is O(log n). This improves upon the result of Bartal who gave a bound of O(log n log log n). Moreover, our result is existentially tight; there exist metric spaces where any tree embedding must have distortion Ω(log n)-distortion. This problem lies at the heart of numerous approximation and online algorithms including ones for group Steiner tree, metric labeling, buy-at-bulk network design and metrical task system. Our result improves the performance guarantees for all of these problems.