This paper introduces a method to compute a sparse lattice planner control set that is suited to a particular task by learning from a representative dataset of vehicle paths. To do this, we use a scoring measure similar to the Frechet distance and propose an algorithm for evaluating a given control set according to the scoring measure. Control actions are then selected from a dense control set according to an objective function that rewards improvements in matching the dataset while also encouraging sparsity. This method is evaluated across several experiments involving real and synthetic datasets, and it is shown to generate smaller control sets when compared to the previous state-of-the-art lattice control set computation technique, with these smaller control sets maintaining a high degree of manoeuvrability in the required task. This results in a planning time speedup of up to 4.31x when using the learned control set over the state-of-the-art computed control set. In addition, we show the learned control sets are better able to capture the driving style of the dataset in terms of path curvature.
For work involving lattice planner control set optimization, have developed a D*-like (DL) algorithm for finding a subset of a lattice control set that spans the same reachability of the original control set, but does so within a multiplicative factor of each original control action's arc length @cite_9 . This algorithm does not rely on data, but instead relies on the structure of the original control set to find redundancy. In contrast, our method attempts to leverage data for a particular application to optimize the control set. This paper uses the DL algorithm as the state-of-the-art comparison for the quality of the presented learning algorithm.
@cite_9
1512015702 1552274388 1553365534 2069278600
We address an open question, regarding whether a lattice code with lattice decoding (as opposed to maximum-likelihood (ML) decoding) can achieve the additive white Gaussian noise (AWGN) channel capacity. We first demonstrate how minimum mean-square error (MMSE) scaling along with dithering (lattice randomization) techniques can transform the power-constrained AWGN channel into a modulo-lattice additive noise channel, whose effective noise is reduced by a factor of spl radic (1+SNR SNR). For the resulting channel, a uniform input maximizes mutual information, which in the limit of large lattice dimension becomes 1 2 log (1+SNR), i.e., the full capacity of the original power constrained AWGN channel. We then show that capacity may also be achieved using nested lattice codes, the coarse lattice serving for shaping via the modulo-lattice transformation, the fine lattice for channel coding. We show that such pairs exist for any desired nesting ratio, i.e., for any signal-to-noise ratio (SNR). Furthermore, for the modulo-lattice additive noise channel lattice decoding is optimal. Finally, we show that the error exponent of the proposed scheme is lower bounded by the Poltyrev exponent. The computational complexity of internal diffusion-limited aggregation (DLA) is examined from both a theoretical and a practical point of view. We show that for two or more dimensions, the problem of predicting the cluster from a given set of paths is complete for the complexity class CC, the subset of P characterized by circuits composed of comparator gates. CC-completeness is believed to imply that, in the worst case, growing a cluster of size n requires polynomial time in n even on a parallel computer. A parallel relaxation algorithm is presented that uses the fact that clusters are nearly spherical to guess the cluster from a given set of paths, and then corrects defects in the guessed cluster through a nonlocal annihilation process. The parallel running time of the relaxation algorithm for two-dimensional internal DLA is studied by simulating it on a serial computer. The numerical results are compatible with a running time that is either polylogarithmic in n or a small power of n. Thus the computational resources needed to grow large clusters are significantly less on average than the worst-case analysis would suggest. For a parallel machine with k processors, we show that random clusters in d dimensions can be generated in ( O )((n k+logk)n2 d) steps. This is a significant speedup over explicit sequential simulation, which takes ( O )(n1+2 d) time on average. Finally, we show that in one dimension internal DLA can be predicted in ( O )(logn) parallel time, and so is in the complexity class NC. This paper develops the Decentralized Linearized Alternating Direction Method of Multipliers (DLM) that minimizes a sum of local cost functions in a multiagent network. The algorithm mimics operation of the decentralized alternating direction method of multipliers (DADMM) except that it linearizes the optimization objective at each iteration. This results in iterations that, instead of successive minimizations, implement steps whose cost is akin to the much lower cost of the gradient descent step used in the distributed gradient method (DGM). The algorithm is proven to converge to the optimal solution when the local cost functions have Lipschitz continuous gradients. Its rate of convergence is shown to be linear if the local cost functions are further assumed to be strongly convex. Numerical experiments in least squares and logistic regression problems show that the number of iterations to achieve equivalent optimality gaps are similar for DLM and ADMM and both much smaller than those of DGM. In that sense, DLM combines the rapid convergence of ADMM with the low computational burden of DGM. We present a new efficient algorithm for the search version of the approximate Closest Vector Problem with Preprocessing (CVPP). Our algorithm achieves an approximation factor of O(n sqrt log n ), improving on the previous best of O(n^ 1.5 ) due to Lag arias, Lenstra, and Schnorr hkzbabai . We also show, somewhat surprisingly, that only O(n) vectors of preprocessing advice are sufficient to solve the problem (with the slightly worse approximation factor of O(n)). We remark that this still leaves a large gap with respect to the decisional version of CVPP, where the best known approximation factor is O(sqrt n log n ) due to Aharonov and Regev AharonovR04 . To achieve these results, we show a reduction to the same problem restricted to target points that are close to the lattice and a more efficient reduction to a harder problem, Bounded Distance Decoding with preprocessing (BDDP). Combining either reduction with the previous best-known algorithm for BDDP by Liu, Lyubashevsky, and Micciancio LiuLM06 gives our main result. In the setting of CVP without preprocessing, we also give a reduction from (1+eps)gamma approximate CVP to gamma approximate CVP where the target is at distance at most 1+1 eps times the minimum distance (the length of the shortest non-zero vector) which relies on the lattice sparsification techniques of Dadush and Kun DadushK13 . As our final and most technical contribution, we present a substantially more efficient variant of the LLM algorithm (both in terms of run-time and amount of preprocessing advice), and via an improved analysis, show that it can decode up to a distance proportional to the reciprocal of the smoothing parameter of the dual lattice MR04 . We show that this is never smaller than the LLM decoding radius, and that it can be up to an wide tilde Omega (sqrt n ) factor larger.