#### Filter Results:

#### Publication Year

2005

2016

#### Publication Type

#### Co-author

#### Key Phrase

#### Publication Venue

Learn More

We present a centralized online (completely reactive) hybrid navigation algorithm for bringing a swarm of n perfectly sensed and ac-tuated point particles in Euclidean d space (for arbitrary n and d) to an arbitrary goal configuration with the guarantee of no collisions along the way. Our construction entails a discrete abstraction of configurations using… (More)

In this paper we introduce and study three new measures for efficient discriminative comparison of phylogenetic trees. The NNI navigation dissimilarity d nav counts the steps along a " combing " of the Nearest Neighbor Interchange (NNI) graph of binary hierarchies, providing an efficient approximation to the (NP-hard) NNI distance in terms of " edit length… (More)

— This paper introduces and solves the problem of cluster-hierarchy-invariant particle navigation in Conf R d , J. Namely, we are given a desired goal configuration, x * ∈ Conf R d , J and τ , a specified cluster hierarchy that the goal supports. We build a hybrid closed loop controller guaranteed to bring any other configuration that supports τ to the… (More)

We propose a self-organizing database for perceptual experience capable of supporting autonomous goal-directed planning. The main contributions are: (i) a formal demonstration that the database is complex enough in principle to represent the homotopy type of the sensed environment; (ii) some initial steps toward a formal demonstration that the database… (More)

We examine overlapping clustering schemes with functorial constraints, in the spirit of Carlsson--Memoli. This avoids issues arising from the chaining required by partition-based methods. Our principal result shows that any clustering functor is naturally constrained to refine single-linkage clusters and be refined by maximal-linkage clusters. We work in… (More)

- Omur Arslan, Dan P Guralnik, Yuliy M Baryshnikov, Daniel E Koditschek, D E Koditschek, Yuliy M
- 2016

Visit Kod*Lab for Abstract. Abstract— This paper introduces and solves the problem of cluster-hierarchy-invariant particle navigation in Conf R d , J. Namely, we are given a desired goal configuration, x * ∈ Conf R d , J and τ , a specified cluster hierarchy that the goal supports. We build a hybrid closed loop controller guaranteed to bring any other… (More)

—We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and representing spatially cohesive and segregated robot groups at different resolutions by relating the continuous space of… (More)

—We propose a self-organizing memory architecture for perceptual experience capable of supporting autonomous learning and goal-directed problem solving in the absence of any prior information about the agent's environment. The architecture is simple enough to ensure (1) a quadratic bound (in the number of available sensors) on space requirements, and (2) a… (More)

Due to works by Bestvina-Mess, Swarup and Bowditch, we now have complete knowledge of how splittings of a word-hyperbolic group G as a graph of groups with finite or two-ended edge groups relate to the cut point structure of its boundary. It is central in the theory that ∂G is a locally connected continuum (a Peano space). Motivated by the structure of… (More)

- ‹
- 1
- ›