Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 26 for “"Graph Optimization"”.
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Multi-modal motion planning using composite pose graph optimization
… and control constraints into a sparse factor graph is introduced. By formulating the motion planning problem in pose graph form, the motion planning problem can be addressed using efficient optimization techniques, similar to those already widely applied in dual estimation problems, e.g., pose …
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Motion planning with dynamic constraints through pose graph optimization
This contribution is an optimization-based method for robotic path-planning that is able to recover vehicle controls in addition to discovering an optimized, feasible trajectory from start to goal for vehicles with arbitrary dynamics. The motion planner extends the application of factor-graph …
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Spatial Quantum Computation in Graph Optimization Problems in Transportation Applications
… of Quantum Computing (QC) to address spatial optimization problems in transportation systems. By leveraging the principles of quantum mechanics, this research aims to enhance the efficiency and effectiveness of transportation networks through QC-based solutions to challenges such as reducing …
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Discrete-continuous optimization for robot perception via semidefinite relaxation
… semantic segmentation and robust pose graph optimization. Compared with other inference techniques, SDP relaxation have shown to provide accurate estimate with provable sub-optimality guarantees without relying on an initial guess for optimization. On the downside, general SDP solvers …
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Automatic Random Logic Layout Synthesis - a Module Generator Approach (Vlsi, Silicon Compilation, Design Automation, Cell Synthesis, Grid)
… synthesis problem. The emphasis is on the global optimization which requires that partitioning, placement and synthesis schemes consider the two-dimensional nature of the problem. Divide-and-conquer principle is used for partitioning the logic into small cells. The placement and wire assignment …
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On the Unique Tree Representation of Graphs
<p>This dissertation investigates classes of graphs which admit tree representations unique up to isomorphism. The definitions of these classes are based on local properties of P<sub>4</sub>'s, A template structure theorem is given which illustrates the nature of the local properties. The template …
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New sublinear methods in the struggle against classical problems
… two classical sources of problems: combinatorial graph optimization and manipulation of strings. The tools we develop find applications outside of the area of sublinear algorithms. For instance, we obtain a more efficient approximation algorithm for edit distance and distributed algorithms for …
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Combinatorial Optimization On Massive Datasets: Streaming, Distributed, And Massively Parallel Computation
… there is a rapidly growing need to solve various optimization tasks over such datasets. This in turn raises the following fundamental question: How well can we solve a large-scale optimization problem on massive datasets in a resource-efficient manner? The focus of this thesis is on answering this …
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Towards a Visual Simultaneous Localization and Mapping System for Computationally Constrained Systems
… This work also discusses a simple back-end pose-graph optimization approach using libg2o. The back end system improved the position estimation as well as detected loop closure events. These initial results show that computationally inexpensive feature detectors such as BRISK and ORB can be used …
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Power Distribution Network Analysis and Optimization in Digital VLSI Circuits
… flow consists of two main steps: analysis and optimization. During the analysis phase, the power and ground buses are broken down into multilevel hierarchical structures. Different algorithms are employed for the analysis at different hierarchies. In all the analyses, input-independent …
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Learning strictly orthogonal p-order nonnegative Laplacian embedding via smoothed iterative reweighted method
Laplacian embedding is a powerful graph based method with its ability in spectral clustering to reveal the intrinsic geometry of data in the high dimensional space. Imposing the orthogonality and the nonnegativity constraints can avoid degenerate and negative solutions, respectively. These two …
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Algorithms for string and graph layout
Many graph optimization problems can be viewed as graph layout problems. A layout of a graph is a geometric arrangement of the vertices subject to given constraints. For example, the vertices of a graph can be arranged on a line or a circle, on a two- or three-dimensional lattice, etc. The goal is …
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Visual Simultaneous Localization and Mapping: From Geometry to Deep Learning
… Mapping-Net, Tracking-Net, Loop-Net, and a graph optimization unit. Experimental evaluations prove that the proposed DeepSLAM outperforms the state-of-the-art monocular SLAMs in terms of pose estimation accuracy, and is more robust than other SLAM systems in some challenging scenes. Finally, …
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Autonomous Sensing and Navigation in Challenging Environments Using Unmanned Air Vehicles in Single- and Multi-Agent Settings
… sensors into a distributed range-enhanced pose graph optimization (DRPGO) scheme. The experimental demonstrations of the two presented systems, considered in tandem to overcome hurdles to sensing from aerodynamic disturbances, feature-starved environments, and communication bandwidth …
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Autonomous underwater vehicle navigation and mapping in dynamic, unstructured environments
… offset of the camera. The system uses pose graph optimization to simultaneously solve for the robot’s trajectory, the map, and the camera location in the robot’s frame, and takes into account the case where the terrain being mapped is drifting and rotating by estimating the orientation of …
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Algorithms and Systems for Scalable Multi-Agent Geometric Estimation
… On one hand, solving the underlying geometric optimization problems is hard due to the coupling among agents and poor numerical conditioning. On the other hand, realworld communication networks impose operational constraints (e.g., in the form of available bandwidth) that need to be accounted …
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Autonomous underwater vehicle navigation and mapping in dynamic, unstructured environments
… offset of the camera. The system uses pose graph optimization to simultaneously solve for the robot's trajectory, the map, and the camera location in the robot's frame, and takes into account the case where the terrain being mapped is drifting and rotating by estimating the orientation of …
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Long-term Object-based SLAM in Low-dynamic Environments
… constraints compatible with general SLAM pose graph optimization. This realizes object-assisted localization and a lightweight object-centric map with change-aware mapping ability, ultimately achieving robust scene understanding despite temporal environment changes.
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Task-specific summarization of networks: Optimization and Learning
Networks (also known as graphs) are everywhere. People-contact networks, social networks, email communication networks, internet networks (among others) are examples of graphs in our daily life. The increasing size of these networks makes it harder to understand them. Instead, summarizing these …
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Primal-Dual Techniques for Online Algorithms and Mechanisms
… there are many generic tools for solving an optimization problem in the offline paradigm, in comparison, much less is known for tackling online problems. The main focus of this work is to design generic techniques for solving integral linear optimization problems where the solution space is …
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