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An Optimal Algorithm for Approximate Nearest Neighbor Searching in Fixed Dimensions
 ACMSIAM SYMPOSIUM ON DISCRETE ALGORITHMS
, 1994
"... Consider a set S of n data points in real ddimensional space, R d , where distances are measured using any Minkowski metric. In nearest neighbor searching we preprocess S into a data structure, so that given any query point q 2 R d , the closest point of S to q can be reported quickly. Given any po ..."
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Cited by 983 (32 self)
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Consider a set S of n data points in real ddimensional space, R d , where distances are measured using any Minkowski metric. In nearest neighbor searching we preprocess S into a data structure, so that given any query point q 2 R d , the closest point of S to q can be reported quickly. Given any positive real ffl, a data point p is a (1 + ffl)approximate nearest neighbor of q if its distance from q is within a factor of (1 + ffl) of the distance to the true nearest neighbor. We show that it is possible to preprocess a set of n points in R d in O(dn log n) time and O(dn) space, so that given a query point q 2 R d , and ffl ? 0, a (1 + ffl)approximate nearest neighbor of q can be computed in O(c d;ffl log n) time, where c d;ffl d d1 + 6d=ffle d is a factor depending only on dimension and ffl. In general, we show that given an integer k 1, (1 + ffl)approximations to the k nearest neighbors of q can be computed in additional O(kd log n) time.
Coverage Control for Mobile Sensing Networks
, 2002
"... This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functio ..."
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Cited by 582 (49 self)
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This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closedloop behavior is adaptive, distributed, asynchronous, and verifiably correct.
Compressed fulltext indexes
 ACM COMPUTING SURVEYS
, 2007
"... Fulltext indexes provide fast substring search over large text collections. A serious problem of these indexes has traditionally been their space consumption. A recent trend is to develop indexes that exploit the compressibility of the text, so that their size is a function of the compressed text l ..."
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Cited by 262 (94 self)
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Fulltext indexes provide fast substring search over large text collections. A serious problem of these indexes has traditionally been their space consumption. A recent trend is to develop indexes that exploit the compressibility of the text, so that their size is a function of the compressed text length. This concept has evolved into selfindexes, which in addition contain enough information to reproduce any text portion, so they replace the text. The exciting possibility of an index that takes space close to that of the compressed text, replaces it, and in addition provides fast search over it, has triggered a wealth of activity and produced surprising results in a very short time, and radically changed the status of this area in less than five years. The most successful indexes nowadays are able to obtain almost optimal space and search time simultaneously. In this paper we present the main concepts underlying selfindexes. We explain the relationship between text entropy and regularities that show up in index structures and permit compressing them. Then we cover the most relevant selfindexes up to date, focusing on the essential aspects on how they exploit the text compressibility and how they solve efficiently various search problems. We aim at giving the theoretical background to understand and follow the developments in this area.
Algorithms for Packet Classification
, 2001
"... The process of categorizing packets into "flows" in an Internet router is called packet classification. All packets belonging to the same flow obey a predefined rule and are processed in a similar manner by the router. For example, all packets with the same source and destination IP addre ..."
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Cited by 232 (3 self)
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The process of categorizing packets into "flows" in an Internet router is called packet classification. All packets belonging to the same flow obey a predefined rule and are processed in a similar manner by the router. For example, all packets with the same source and destination IP addresses may be defined to form a flow. Packet classification is needed for non "besteffort" services, such as firewalls and quality of service; services that require the capability to distinguish and isolate traffic in different flows for suitable processing. In general, packet classification on multiple fields is a difficult problem. Hence, researchers have proposed a variety of algorithms which, broadly speaking, can be categorized as "basic search algorithms," geometric algorithms, heuristic algorithms, or hardwarespecific search algorithms. In this tutorial we describe algorithms that are representative of each category, and discuss which type of algorithm might be suitable for different applications. 1
On robust rendezvous for mobile autonomous agents
, 2005
"... This paper presents coordination algorithms for networks of mobile autonomous agents. The objective of the proposed algorithms is to achieve rendezvous, that is, agreement over the location of the agents in the network. We provide analysis and design results for multiagent networks in arbitrary di ..."
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Cited by 202 (21 self)
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This paper presents coordination algorithms for networks of mobile autonomous agents. The objective of the proposed algorithms is to achieve rendezvous, that is, agreement over the location of the agents in the network. We provide analysis and design results for multiagent networks in arbitrary dimensions under weak requirements on the switching and failing communication topology. The correctness proof relies on proximity graphs and their properties and on a LaSalle Invariance Principle for nondeterministic discretetime systems.
Asrigidaspossible shape interpolation
, 2000
"... We present an objectspace morphing technique that blends the interiors of given two or threedimensional shapes rather than their boundaries. The morph is rigid in the sense that local volumes are leastdistorting as they vary from their source to target configurations. Given a boundary vertex cor ..."
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Cited by 188 (9 self)
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We present an objectspace morphing technique that blends the interiors of given two or threedimensional shapes rather than their boundaries. The morph is rigid in the sense that local volumes are leastdistorting as they vary from their source to target configurations. Given a boundary vertex correspondence, the source and target shapes are decomposed into isomorphic simplicial complexes. For the simplicial complexes, we find a closedform expression allocating the paths of both boundaryand interior vertices from source to target locations as a function of time. Key points are the identification of the optimal simplex morphing and the appropriate definition of an error functional whose minimization defines the paths of the vertices. Each pair of corresponding simplices defines an affine transformation, which is factored into a rotation and a stretching transformation. These local transformations are naturally interpolated over time and serve as the basis for composing a global coherent leastdistorting transformation.
A survey of visibility for walkthrough applications
 IEEE TRANSACTIONS ON VISUALIZATION AND COMPUTER
, 2003
"... Visibility algorithms for walkthrough and related applications have grown into a significant area, spurred by the growth in the complexity of models and the need for highly interactive ways of navigating them. In this survey, we review the fundamental issues in visibility and conduct an overview of ..."
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Cited by 186 (9 self)
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Visibility algorithms for walkthrough and related applications have grown into a significant area, spurred by the growth in the complexity of models and the need for highly interactive ways of navigating them. In this survey, we review the fundamental issues in visibility and conduct an overview of the visibility culling techniques developed in the last decade. The taxonomy we use distinguishes between pointbased and fromregion methods. Pointbased methods are further subdivided into object and imageprecision techniques, while fromregion approaches can take advantage of the cellandportal structure of architectural environments or handle generic scenes.
Indexing moving points
, 2003
"... We propose three indexing schemes for storing a set S of N points in the plane, each moving along a linear trajectory, so that any query of the following form can be answered quickly: Given a rectangle R and a real value t; report all K points of S that lie inside R at time t: We first present an in ..."
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Cited by 184 (11 self)
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We propose three indexing schemes for storing a set S of N points in the plane, each moving along a linear trajectory, so that any query of the following form can be answered quickly: Given a rectangle R and a real value t; report all K points of S that lie inside R at time t: We first present an indexing structure that, for any given constant e> 0; uses OðN=BÞ disk blocks and answers a query in OððN=BÞ 1=2þe þ K=BÞ I/Os, where B is the block size. It can also report all the points of S that lie inside R during a given time interval. A point can be inserted or deleted, or the trajectory of a point can be changed, in Oðlog 2 B NÞ I/Os. Next, we present a general approach that improves the query time if the queries arrive in chronological order, by allowing the index to evolve over time. We obtain a tradeoff between the query time and the number of times the index needs to be updated as the points move. We also describe an indexing scheme in which the number of I/Os required to answer a query depends monotonically on the difference between the query time stamp t and the current time. Finally, we develop an efficient indexing scheme to answer approximate
Applicationlayer multicast with Delaunay triangulations
 IEEE JOURNAL ON SELECTED AREAS IN COMMUNICATIONS
, 2002
"... Applicationlayer multicast supports group applications without the need for a networklayer multicast protocol. Here, applications arrange themselves in a logical overlay network and transfer data within the overlay. In this paper, we present an applicationlayer multicast solution that uses a Del ..."
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Cited by 179 (4 self)
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Applicationlayer multicast supports group applications without the need for a networklayer multicast protocol. Here, applications arrange themselves in a logical overlay network and transfer data within the overlay. In this paper, we present an applicationlayer multicast solution that uses a Delaunay triangulation as an overlay network topology. An advantage of using a Delaunay triangulation is that it allows each application to locally derive nexthop routing information without requiring a routing protocol in the overlay. A disadvantage of using a Delaunay triangulation is that the mapping of the overlay to the network topology at the network and data link layer may be suboptimal. We present a protocol, called Delaunay triangulation (DT protocol), which constructs Delaunay triangulation overlay networks. We present measurement experiments of the DT protocol for overlay networks with up to 10 000 members, that are running on a local PC cluster with 100 Linux PCs. The results show that the protocol stabilizes quickly, e.g., an overlay network with 10 000 nodes can be built in just over 30 s. The traffic measurements indicate that the average overhead of a node is only a few kilobits per second if the overlay network is in a steady state. Results of throughput experiments of multicast transmissions (using TCP unicast connections between neighbors in the overlay network) show an achievable throughput of approximately 15 Mb/s in an overlay with 100 nodes and 2 Mb/s in an overlay with 1000 nodes.