Algorithms that find connections between concepts in semantic networks are inherently inefficient due to their dependence on piecemeal representation of potential paths. A method of reorganizing a link-based network into a path-based representation is argued to allow more efficient search techniques. A path-based representation is presented in terms of the knowledge representation language Conc...

We present a data-driven stochastic optimal control framework that is derived using the path integral (PI) control approach. We find iterative control laws analytically without a priori policy parameterization based on probabilistic representation of the learned dynamics model. The proposed algorithm operates in a forward-backward sweep manner which differentiate it from other PI-related method...

This paper presents an efficient approach for asymptotically-optimal path planning on implicitly-defined configuration spaces. Recently, several asymptotically-optimal path planners have been introduced, but they typically exhibit slow convergence rates. Moreover, these planners can not operate on the configuration spaces that appear in the presence of kinematic or contact constraints, such as ...

There are many path planning algorithms designed for mobile robots with software implementation. In the case of dynamic environments high-speed planning and recomputation of paths is necessary to avoid collision of robots with moving objects. A hardware-efficient algorithm is presented for finding a path of a mobile robot on image of an environment captured by an overhead camera. The algorithm ...

Path tracking is the fundamental computational tool in homotopy continuation and is therefore key in most algorithms in the emerging field of numerical algebraic geometry. Though the basic notions of predictor-corrector methods have been known for years, there is still much to be considered, particularly in the specialized algebraic setting of solving polynomial systems. This article considers ...

This work addresses path planning for nonholonomic robots moving in two-dimensional space. The problem consists in computing a sequence of line segments that leads from the current configuration of the robot to a target location, while avoiding a given set of obstacles. We describe a planning algorithm that has the advantage of being very efficient, requiring less of one millisecond of CPU time...

This paper presents an efficient algorithm to sample free path in inhomogeneous participating media. The method is based on the concept of mixing “virtual” particles to the medium, that complete the extinction coefficient to a piece-wise constant function. We use the sampling formulae developed for piece-wise homogeneous medium, but decide randomly whether a real or a virtual particle is hit.

ion Rashmi Mudduluru and Murali Krishna Ramanathan {mudduluru.rashmi,muralikrishna}@csa.iisc.ernet.in Indian Institute of Science, Bangalore, India Abstract. Incremental static analysis involves analyzing changes to a version of a source code along with analyzing code regions that are semantically affected by the changes. Existing analysis tools that attempt Incremental static analysis involves...

Control-Flow Integrity (CFI), as a means to prevent control-flow hijacking attacks, enforces that each instruction transfers control to an address in a set of valid targets. The security guarantee of CFI thus depends on the definition of valid targets, which conventionally are defined as the result of a static analysis. Unfortunately, previous research has demonstrated that such a definition, a...

The Appearance of radix-22 was a milestone in the design of pipelined FFT hardware architectures. Later, radix-22 was extended to radix-2K. In the feed forward architectures radix-2K can be used for any number of parallel samples which is a power of two. Indeed, it is shown that feed forward structures are more efficient than feedback ones when several samples in parallel must be processed. As ...