There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

We will review some of the major results in random graphs and some of the more challenging open problems. We will cover algorithmic and structural questions. We will touch on newer models, including those related to the WWW.

Random graphs

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

This paper provides an overview of the Internet of Things (IoT) with emphasis on enabling technologies, protocols, and application issues. The IoT is enabled by the latest developments in RFID, smart sensors, communication technologies, and Internet protocols. The basic premise is to have smart sensors collaborate directly without human involvement to deliver a new class of applications. The current revolution in Internet, mobile, and machine-to-machine (M2M) technologies can be seen as the first phase of the IoT. In the coming years, the IoT is expected to bridge diverse technologies to enable new applications by connecting physical objects together in support of intelligent decision making. This paper starts by providing a horizontal overview of the IoT. Then, we give an overview of some technical details that pertain to the IoT enabling technologies, protocols, and applications. Compared to other survey papers in the field, our objective is to provide a more thorough summary of the most relevant protocols and application issues to enable researchers and application developers to get up to speed quickly on how the different protocols fit together to deliver desired functionalities without having to go through RFCs and the standards specifications. We also provide an overview of some of the key IoT challenges presented in the recent literature and provide a summary of related research work. Moreover, we explore the relation between the IoT and other emerging technologies including big data analytics and cloud and fog computing. We also present the need for better horizontal integration among IoT services. Finally, we present detailed service use-cases to illustrate how the different protocols presented in the paper fit together to deliver desired IoT services.

Internet of Things: A Survey on Enabling Technologies, Protocols, and Applications

In k-means clustering, we are given a set of n data points in d-dimensional space R/sup d/ and an integer k and the problem is to determine a set of k points in Rd, called centers, so as to minimize the mean squared distance from each data point to its nearest center. A popular heuristic for k-means clustering is Lloyd's (1982) algorithm. We present a simple and efficient implementation of Lloyd's k-means clustering algorithm, which we call the filtering algorithm. This algorithm is easy to implement, requiring a kd-tree as the only major data structure. We establish the practical efficiency of the filtering algorithm in two ways. First, we present a data-sensitive analysis of the algorithm's running time, which shows that the algorithm runs faster as the separation between clusters increases. Second, we present a number of empirical studies both on synthetically generated data and on real data sets from applications in color quantization, data compression, and image segmentation.

/pdf/an-efficient-k-means-clustering-algorithm-analysis-and-1vgn3zr7cg.pdf

An efficient k-means clustering algorithm: analysis and implementation

We present memory-efficient deterministic algorithms for constructing ∈-nets and ∈-approximations of streams of geometric data. Unlike probabilistic approaches, these deterministic samples provide guaranteed bounds on their approximation factors. We show how our deterministic samples can be used to answer approximate online iceberg geometric queries on data streams. We use these techniques to approximate several robust statistics of geometric data streams, including Tukey depth, simplicial depth, regression depth, the Thiel-Sen estimator, and the least median of squares. Our algorithms use only a polylogarithmic amount of memory, provided the desired approximation factors are inverse-polylogarithmic. We also include a lower bound for non-iceberg geometric queries.

Deterministic sampling and range counting in geometric data streams

We combine the idea of confluent drawings with Sugiyama-style drawings in order to reduce the edge crossings in the resultant drawings. Furthermore, it is easier to understand the structures of graphs from the mixed-style drawings. The basic idea is to cover a layered graph by complete bipartite subgraphs (bicliques), then replace bicliques with tree-like structures. The biclique cover problem is reduced to a special edge-coloring problem and solved by heuristic coloring algorithms. Our method can be extended to obtain multi-depth confluent layered drawings.

/pdf/confluent-layered-drawings-3c2mxrw1e9.pdf

Confluent Layered Drawings

For a set S of n line segments in the plane, we give the first work-optimal deterministic parallel algorithm for constructing their arrangement. It runs in O(log2 n) time using O(n logn + k) work in the EREW PRAM model, where k is the number of intersecting line segment pairs, and provides a fairly simple divide-and-conquer alternative to the optimal sequential “plane-sweep” algorithm of Chazelle and Edelsbrunner. Moreover, our method can be used to output all k intersecting pairs while using only O(n) working space, which solves an open problem posed by Chazelle and Edelsbrunner. We also describe a sequential algorithm for computing a single face in an arrangement of n line segments that runs in O(n 2(n) logn) time, which improves on a previous O(n log n) time algorithm. For collections of simplices in IRd, we give methods for constructing a set ofm = O(nd 1 logc n+k) cells of constant descriptive complexity that covers their arrangement, where c > 1 is a constant and k is the number of faces in the arrangement. The construction is performed sequentially in O(m) time, or in O(logn) time using O(m) work in the EREW PRAM model. The covering can be augmented to answer point location queries in O(logn) time. In addition to supplying the first parallel methods for these problems, we improve on the previous best sequential methods by reducing the query times (from O(log2 n) in IR and O(log3 n) in IRd, d > 3), and also the size and construction cost of the covering (from O(nd 1+ + k)).

Computing faces in segment and simplex arrangements

We study the problem of sorting n numbers on a p-processor bulk-synchronous parallel (BSP) computer, which is a parallel multicomputer that allows for general processor-to-processor communication rounds provided each processor sends and receives at most h items in any round. We provide parallel sorting methods that use internal computation time that is O(*) and a number of communication rounds that is 0( ~$$~1) ) for h = @(n/p). The internal computation bound is optimal for any comparison-based sorting algorithm. Moreover, the number of communication rounds is bounded by a constant for the (practical) situations when p < nl–l/c for a constant c > 1. In fact, we show that — our bound on the number of communication rounds is asymptotically optimal for the full range of values for p, for we show that just computing the “or” of n bits distributed evenly to the first O(n/h) of an arbitrary number of processors in a BSP computer requires fl(log n/ log(h + 1)) communication rounds.

Communication-efficient parallel sorting (preliminary version)

Rooted trees are usually drawn planar and upward, i.e., without crossings and with parents placed above their children. In this paper we investigate the area requirement of planar upward drawings of trees, and present optimal algorithms for constructing such drawings.

Michael T. Goodrich

Papers

Deterministic sampling and range counting in geometric data streams

Confluent Layered Drawings

Computing faces in segment and simplex arrangements

Communication-efficient parallel sorting (preliminary version)

Area-efficient upward tree drawings