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

Given a planar digraph $G$ and a positive even integer $k$, an embedding of $G$ in the plane is k-modal, if every vertex of $G$ is incident to at most $k$ pairs of consecutive edges with opposite orientations, i.e., the incoming and the outgoing edges at each vertex are grouped by the embedding into at most k sets of consecutive edges with the same orientation. In this paper, we study the $k$-Modality problem, which asks for the existence of a $k$-modal embedding of a planar digraph. This combinatorial problem is at the very core of a variety of constrained embedding questions for planar digraphs and flat clustered networks.

Computing k-modal embeddings of planar digraphs

We study balanced circle packings and circle-contact representations for planar graphs, where the ratio of the largest circle's diameter to the smallest circle's diameter is polynomial in the number of circles. We provide a number of positive and negative results for the existence of such balanced configurations.

/pdf/balanced-circle-packings-for-planar-graphs-5ckk8j7kv2.pdf

Balanced Circle Packings for Planar Graphs

We describe an Internet-based approach for teaching important concepts in a Junior-Senior level course on the design and analysis of data structures and algorithms (traditionally called CS7 or DS&A). The main idea of this educational paradigm is twofold. First, it provides fresh motivation for fundamental algorithms and data structures that are finding new applications in the context of the Internet. Second, it provides a source for introducing new algorithms and data structures that are derived from specific Internet applications. In this paper, we suggest some key pedagogical and curriculum updates that can be made to the classic CS7/DS&A course to turn it into a course on Internet Algorithmics. We believe that such a course will stimulate new interest and excitement in material that is perceived by some students to be stale, boring, and purely theoretical. We argue that the foundational topics from CS7/DS&A should remain even when it is taught in an Internet-centric manner. This, of course, should come as no surprise to the seasoned computer scientist, who understands the value of algorithmic thinking.

/pdf/teaching-internet-algorithmics-23ung6fg4n.pdf

Teaching internet algorithmics

We study the problem of abstracting a table of data about individuals so that no selection query can identify fewer than k individuals. We show that it is impossible to achieve arbitrarily good polynomial-time approximations for a number of natural variations of the generalization technique, unless P = NP, even when the table has only a single quasi-identifying attribute that represents a geographic or unordered attribute: 
Zip-codes: nodes of a planar graph generalized into connected subgraphs 
GPS coordinates: points in R2 generalized into non-overlapping rectangles 
Unordered data: text labels that can be grouped arbitrarily. In addition to impossibility results, we provide approximation algorithms for these difficult single-attribute generalization problems, which, of course, apply to multiple-attribute instances with one that is quasi-identifying. We show theoretically and experimentally that our approximation algorithms can come reasonably close to optimal solutions. Incidentally, the generalization problem for unordered data can be viewed as a novel type of bin packing problem--min-max bin covering--which may be of independent interest.

On the Approximability of Geometric and Geographic Generalization and the Min-Max Bin Covering Problem

In this paper we give a parallel algorithm for constructing the Voronoi diagram of a polygonal scene, i.e., a set of line segments in the plane such that no two segments intersect except possibly at their endpoints. Our algorithm runs in O(log2n) time using O(n) processors in the CREW PRAM model.

Michael T. Goodrich

Papers

Computing k-modal embeddings of planar digraphs

Balanced Circle Packings for Planar Graphs

Teaching internet algorithmics

On the Approximability of Geometric and Geographic Generalization and the Min-Max Bin Covering Problem

Constructing the Voronoi Diagram of a Set of Line Segments in Parallel (Preliminary Version)