Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms. The treatment is centered on robot motion planning but integrates material on planning in discrete spaces. A major part of the book is devoted to planning under uncertainty, including decision theory, Markov decision processes, and information spaces, which are the “configuration spaces” of all sensor-based planning problems. The last part of the book delves into planning under differential constraints that arise when automating the motions of virtually any mechanical system. Developed from courses taught by the author, the book is intended for students, engineers, and researchers in robotics, artificial intelligence, and control theory as well as computer graphics, algorithms, and computational biology.

Planning Algorithms: Introductory Material

In this paper we develop new Newton and conjugate gradient algorithms on the Grassmann and Stiefel manifolds. These manifolds represent the constraints that arise in such areas as the symmetric eigenvalue problem, nonlinear eigenvalue problems, electronic structures computations, and signal processing. In addition to the new algorithms, we show how the geometrical framework gives penetrating new insights allowing us to create, understand, and compare algorithms. The theory proposed here provides a taxonomy for numerical linear algebra algorithms that provide a top level mathematical view of previously unrelated algorithms. It is our hope that developers of new algorithms and perturbation theories will benefit from the theory, methods, and examples in this paper.

http://www-math.mit.edu/~edelman/publications/geometry_of_algorithms.pdf

The Geometry of Algorithms with Orthogonality Constraints

Many problems in the sciences and engineering can be rephrased as optimization problems on matrix search spaces endowed with a so-called manifold structure. This book shows how to exploit the special structure of such problems to develop efficient numerical algorithms. It places careful emphasis on both the numerical formulation of the algorithm and its differential geometric abstraction--illustrating how good algorithms draw equally from the insights of differential geometry, optimization, and numerical analysis. Two more theoretical chapters provide readers with the background in differential geometry necessary to algorithmic development. In the other chapters, several well-known optimization methods such as steepest descent and conjugate gradients are generalized to abstract manifolds. The book provides a generic development of each of these methods, building upon the material of the geometric chapters. It then guides readers through the calculations that turn these geometrically formulated methods into concrete numerical algorithms. The state-of-the-art algorithms given as examples are competitive with the best existing algorithms for a selection of eigenspace problems in numerical linear algebra. Optimization Algorithms on Matrix Manifolds offers techniques with broad applications in linear algebra, signal processing, data mining, computer vision, and statistical analysis. It can serve as a graduate-level textbook and will be of interest to applied mathematicians, engineers, and computer scientists.

http://www.eeci-institute.eu/GSC2011/Photos-EECI/EECI-GSC-2011-M5/book_AMS.pdf

Optimization Algorithms on Matrix Manifolds

This celebrated book has been prepared with readers' needs in mind, remaining a systematic treatment of the subject whilst retaining its vitality. The second volume follows on from the first, concentrating on stochastic integrals, stochastic differential equations, excursion theory and the general theory of processes. Much effort has gone into making these subjects as accessible as possible by providing many concrete examples that illustrate techniques of calculation, and by treating all topics from the ground up, starting from simple cases. Many of the examples and proofs are new; some important calculational techniques appeared for the first time in this book. Together with its companion volume, this book helps equip graduate students for research into a subject of great intrinsic interest and wide application in physics, biology, engineering, finance and computer science.

Diffusions, Markov processes, and martingales

This article focuses on the construction, directly in physical space, of simply parametrized covariance functions for data-assimilation applications. A self-contained, rigorous mathematical summary of relevant topics from correlation theory is provided as a foundation for this construction. Covariance and correlation functions are defined, and common notions of homogeneity and isotropy are clarified. Classical results are stated, and proven where instructive. Included are smoothness properties relevant to multivariate statistical-analysis algorithms where wind/wind and wind/mass correlation models are obtained by differentiating the correlation model of a mass variable. the Convolution Theorem is introduced as the primary tool used to construct classes of covariance and cross-covariance functions on three-dimensional Euclidean space R3. Among these are classes of compactly supported functions that restrict to covariance and cross-covariance functions on the unit sphere S2, and that vanish identically on subsets of positive measure on S2. It is shown that these covariance and cross-covariance functions on S2, referred to as being space-limited, cannot be obtained using truncated spectral expansions. Compactly supported and space-limited covariance functions determine sparse covariance matrices when evaluated on a grid, thereby easing computational burdens in atmospheric data-analysis algorithms.

Convolution integrals leading to practical examples of compactly supported covariance and cross-covariance functions on R3 are reduced and evaluated. More specifically, suppose that gi and gj are radially symmetric functions defined on R3 such that gi(x) = 0 for |x| > di and gj(x) = 0 for |xv > dj, O di + dj and |x - y| > 2di, respectively, Additional covariance functions on R3 are constructed using convolutions over the real numbers R, rather than R3. Families of compactly supported approximants to standard second- and third-order autoregressive functions are constructed as illustrative examples. Compactly supported covariance functions of the form C(x,y) := Co(|x - y|), x,y ∈ R3, where the functions Co(r) for r ∈ R are 5th-order piecewise rational functions, are also constructed. These functions are used to develop space-limited product covariance functions B(x, y) C(x, y), x, y ∈ S2, approximating given covariance functions B(x, y) supported on all of S2 × S2.

/pdf/construction-of-correlation-functions-in-two-and-three-5v9yuj9d1h.pdf

Construction of correlation functions in two and three dimensions

Foundations of Differentiable Manifolds and Lie Groups gives a clear, detailed, and careful development of the basic facts on manifold theory and Lie Groups. It includes differentiable manifolds, tensors and differentiable forms. Lie groups and homogenous spaces, integration on manifolds, and in addition provides a proof of the de Rham theorem via sheaf cohomology theory, and develops the local theory of elliptic operators culminating in a proof of the Hodge theorem. Those interested in any of the diverse areas of mathematics requiring the notion of a differentiable manifold will find this beginning graduate-level text extremely useful.

Frank Wilson Warner

Papers

Foundations of Differentiable Manifolds and Lie Groups