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—We study the problem of landmark selection for landmark-based routing in a network of fixed wireless communication nodes. We present a distributed landmark selection algorithm that does not rely on global clock synchronization, and a companion local greedy landmark-based routing scheme. We assume no node location information, and that each node can… (More)

In this paper we describe and analyze a method based on local least square fitting for estimating the normals at all sample points of a point cloud data (PCD) set, in the presence of noise. We study the effects of neighborhood size, curvature, sampling density, and noise on the normal estimation when the PCD is sampled from a smooth curve in… (More)

In a sensor network information from multiple nodes must usually be aggregated in order to accomplish a certain task. A natural way to view this information gathering is in terms of interactions between nodes that are producers of information, e.g., those that have collected data, detected events, etc., and nodes that are consumers of information , i.e.,… (More)

In this paper, we propose to study deformable necklaces --- flexible chains of balls, called beads, in which only adjacent balls may intersect. Such objects can be used to model macro-molecules, muscles, rope, and other 'linear' objects in the physical world. In this paper, we exploit this linearity to develop geometric structures associated with necklaces… (More)

Zonotopes are centrally symmetric polytopes with a very special structure: they are Minkowski sums of line segments. In this paper we propose to use zonotopes as bounding volumes for geometry in collision detection and other applications where the spatial relationship between two pieces of geometry is important. We show how to construct optimal, or… (More)

We present an efficient distributed data structure, called the D-SPANNER, for maintaining proximity information among communicating mobile nodes. The D-SPANNER is a kinetic sparse graph spanner on the nodes that allows each node to quickly determine which other nodes are within a given distance of itself, to estimate an approximate nearest neighbor, and to… (More)

We consider a finite-pool data categorization scenario which requires exhaustively classifying a given set of examples with a limited budget. We adopt a hybrid human-machine approach which blends automatic machine learning with human labeling across a tiered workforce composed of domain experts and crowd workers. To effectively achieve high-accuracy labels… (More)

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