Many problems in robust control and motion planning can be reduced to either find a sound approximation of the solution space determined by a set of nonlinear inequalities, or to the guaranteed tuning problem'' as defined by Jaulin and Walter, which amounts to finding a value for some tuning parameter such that a set of inequalities be verified for all the possible values of some perturbation vector. A classical approach to solve these problems, which satisfies the strong soundness requirement, involves some quantifier elimination procedure such as Collins' Cylindrical Algebraic Decomposition symbolic method. Sound numerical methods using interval arithmetic and local consistency enforcement to prune the search space are presented in this paper as much faster alternatives for both soundly solving systems of nonlinear inequalities, and addressing the guaranteed tuning problem whenever the perturbation vector has dimension one. The use of these methods in camera control is investigated, and experiments with the prototype of a declarative modeller to express camera motion using a cinematic language are reported and commented.
The method presented by @cite_40 is strongly related to the one we present in the following, since they rely on usual interval constraint solving techniques to compute sound boxes for some constraint system. Starting from a seed that is known to belong to the solution space, they enlarge the domain of the variables around it in such a way that the new box computed is still included in the solution space. They do so by using local consistency techniques to find the points at which the truth value of the constraints change. Their algorithm is particularly well suited for the applications they target, the enlargement of tolerances. It is however not designed to solve the guaranteed tuning problem. In addition, it is necessary to obtain a seed for each connected subset of the solution space, and to apply the algorithm on each seed if one is interested in computing several solutions (e.g. to ensure representativeness of the samples).
@cite_40
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We report on a novel technique called spatial coupling and its application in the analysis of random constraint satisfaction problems (CSP). Spatial coupling was invented as an engineering construction in the area of error correcting codes where it has resulted in efficient capacity-achieving codes for a wide range of channels. However, this technique is not limited to problems in communications, and can be applied in the much broader context of graphical models. We describe here a general methodology for applying spatial coupling to random constraint satisfaction problems and obtain lower bounds for their (rough) satisfiability threshold. The main idea is to construct a distribution of geometrically structured random K-SAT instances - namely the spatially coupled ensemble - which has the same (rough) satisfiability threshold, and is at the same time algorithmically easier to solve. Then by running well-known algorithms on the spatially coupled ensemble we obtain a lower bound on the (rough) satisfiability threshold of the original ensemble. The method is versatile because one can choose the CSP, there is a certain amount of freedom in the construction of the spatially coupled ensemble, and also in the choice of the algorithm. In this work we focus on random K-SAT but we have also checked that the method is successful for Coloring, NAE-SAT and XOR-SAT. We choose Unit Clause propagation for the algorithm which is analyzed over the spatially coupled instances. For K = 3, for instance, our lower bound is equal to 3.67 which is better than the current bounds in the literature. Similarly, for graph 3-colorability we get a bound of 2.22 which is also better than the current bounds in the literature. In this paper, we propose a new algorithm for pairwise rigid point set registration with unknown point correspondences. The main properties of our method are noise robustness, outlier resistance and global optimal alignment. The problem of registering two point clouds is converted to a minimization of a nonlinear cost function. We propose a new cost function based on an inverse distance kernel that significantly reduces the impact of noise and outliers. In order to achieve a global optimal registration without the need of any initial alignment, we develop a new stochastic approach for global minimization. It is an adaptive sampling method which uses a generalized BSP tree and allows for minimizing nonlinear scalar fields over complex shaped search spaces like, e.g., the space of rotations. We introduce a new technique for a hierarchical decomposition of the rotation space in disjoint equally sized parts called spherical boxes. Furthermore, a procedure for uniform point sampling from spherical boxes is presented. Tests on a variety of point sets show that the proposed registration method performs very well on noisy, outlier corrupted and incomplete data. For comparison, we report how two state-of-the-art registration algorithms perform on the same data sets. This paper studies sparse spikes deconvolution over the space of measures. We focus on the recovery properties of the support of the measure (i.e., the location of the Dirac masses) using total variation of measures (TV) regularization. This regularization is the natural extension of the @math l1 norm of vectors to the setting of measures. We show that support identification is governed by a specific solution of the dual problem (a so-called dual certificate) having minimum @math L2 norm. Our main result shows that if this certificate is non-degenerate (see the definition below), when the signal-to-noise ratio is large enough TV regularization recovers the exact same number of Diracs. We show that both the locations and the amplitudes of these Diracs converge toward those of the input measure when the noise drops to zero. Moreover, the non-degeneracy of this certificate can be checked by computing a so-called vanishing derivative pre-certificate. This proxy can be computed in closed form by solving a linear system. Lastly, we draw connections between the support of the recovered measure on a continuous domain and on a discretized grid. We show that when the signal-to-noise level is large enough, and provided the aforementioned dual certificate is non-degenerate, the solution of the discretized problem is supported on pairs of Diracs which are neighbors of the Diracs of the input measure. This gives a precise description of the convergence of the solution of the discretized problem toward the solution of the continuous grid-free problem, as the grid size tends to zero. The problem of finding heavy hitters and approximating the frequencies of items is at the heart of many problems in data stream analysis. It has been observed that several proposed solutions to this problem can outperform their worst-case guarantees on real data. This leads to the question of whether some stronger bounds can be guaranteed. We answer this in the positive by showing that a class of counter-based algorithms (including the popular and very space-efficient Frequent and SpacesSaving algorithms) provides much stronger approximation guarantees than previously known. Specifically, we show that errors in the approximation of individual elements do not depend on the frequencies of the most frequent elements, but only on the frequency of the remaining tail. This shows that counter-based methods are the most space-efficient (in fact, space-optimal) algorithms having this strong error bound. This tail guarantee allows these algorithms to solve the sparse recovery problem. Here, the goal is to recover a faithful representation of the vector of frequencies, f. We prove that using space O(k), the algorithms construct an approximation f* to the frequency vector f so that the L1 error ppf−pf*p1 is close to the best possible error minf′ pf′ − fp1, where f′ ranges over all vectors with at most k non-zero entries. This improves the previously best known space bound of about O(k log n) for streams without element deletions (where n is the size of the domain from which stream elements are drawn). Other consequences of the tail guarantees are results for skewed (Zipfian) data, and guarantees for accuracy of merging multiple summarized streams.