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.

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An efficient k-means clustering algorithm: analysis and implementation

Computing faces in segment and simplex arrangements (Preliminary Version).

In this paper, we introduce a new approach for drawing diagrams that have applications in software visualization. Our approach is to use a technique we call confluent drawing for visualizing non-planar diagrams in a planar way. This approach allows us to draw, in a crossing-free manner, graphs--such as software interaction diagrams--that would normally have many crossings. The main idea of this approach is quite simple: we allow groups of edges to be merged together and drawn as "tracks" (similar to train tracks). Producing such confluent diagrams automatically from a graph with many crossings is quite challenging, however, so we offer two heuristic algorithms to test if a non-planar graph can be drawn efficiently in a confluent way. In addition, we identify several large classes of graphs that can be completely categorized as being either confluently drawable or confluently non-drawable.

Confluent Drawings: Visualizing Non-planar Diagrams in a Planar Way

Motivated by blockchain technology for supply-chain tracing of ethically sourced diamonds, we study geometric polyhedral point-set pattern matching as minimum-width polyhedral annulus problems under translations and rotations. We provide two (1 + ε )-approximation schemes under translations with O ( ε − d n )-time for d dimensions and O ( n log ε − 1 + ε − 2 )-time for two dimensions, and we give an O ( f d − 1 ε 1 − 2 d n )-time algorithm when also allowing for rotations, parameterized on f , which we deﬁne as the slimness of the point set.

Diamonds are Forever in the Blockchain: Geometric Polyhedral Point-Set Pattern Matching

Ply number is a recently developed graph drawing metric inspired by studying road networks. Informally, for each vertex v, which is associated with a point in the plane, a disk is drawn centered on v with a radius that is alpha times the length of the longest edge incident to v, for some constant alpha in (0, 0.5]. The ply number is the maximum number of disks that overlap at a single point. We show that any tree with maximum degree Delta has a 1-ply drawing when alpha = O(1 / Delta). We also show that when alpha = 1/2, trees can be drawn with logarithmic ply number, with an area that is polynomial for bounded-degree trees. Lastly, we show that this logarithmic upper bound does not apply to 2-trees, by giving a lower bound of Omega(sqrt(n / log n)) ply for any value of alpha.

Low Ply Drawings of Trees and 2-Trees

Inspired by a classic paper by Knuth, we revisit the problem of drawing flowcharts of loop-free algorithms, that is, degree-three series-parallel digraphs. Our drawing algorithms show that it is possible to produce Knuthian drawings of degree-three series-parallel digraphs with good aspect ratios and small numbers of edge bends.

Michael T. Goodrich

Papers

Computing faces in segment and simplex arrangements (Preliminary Version).

Confluent Drawings: Visualizing Non-planar Diagrams in a Planar Way

Diamonds are Forever in the Blockchain: Geometric Polyhedral Point-Set Pattern Matching

Low Ply Drawings of Trees and 2-Trees

Knuthian Drawings of Series-Parallel Flowcharts