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SNOPT: An SQP Algorithm For LargeScale Constrained Optimization
, 2002
"... Sequential quadratic programming (SQP) methods have proved highly effective for solving constrained optimization problems with smooth nonlinear functions in the objective and constraints. Here we consider problems with general inequality constraints (linear and nonlinear). We assume that first deriv ..."
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Cited by 582 (23 self)
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Sequential quadratic programming (SQP) methods have proved highly effective for solving constrained optimization problems with smooth nonlinear functions in the objective and constraints. Here we consider problems with general inequality constraints (linear and nonlinear). We assume that first derivatives are available, and that the constraint gradients are sparse. We discuss
Primitives for the manipulation of general subdivisions and the computations of Voronoi diagrams
 ACM Tmns. Graph
, 1985
"... The following problem is discussed: Given n points in the plane (the sites) and an arbitrary query point 4, find the site that is closest to q. This problem can be solved by constructing the Voronoi diagram of the given sites and then locating the query point in one of its regions. Two algorithms ar ..."
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Cited by 543 (11 self)
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The following problem is discussed: Given n points in the plane (the sites) and an arbitrary query point 4, find the site that is closest to q. This problem can be solved by constructing the Voronoi diagram of the given sites and then locating the query point in one of its regions. Two algorithms are given, one that constructs the Voronoi diagram in O(n log n) time, and another that inserts a new site in O(n) time. Both are based on the use of the Voronoi dual, or Delaunay triangulation, and are simple enough to be of practical value. The simplicity of both algorithms can be attributed to the separation of the geometrical and topological aspects of the problem and to the use of two simple but powerful primitives, a geometric predicate and an operator for manipulating the topology of the diagram. The topology is represented by a new data structure for generalized diagrams, that is, embeddings of graphs in twodimensional manifolds. This structure represents simultaneously an embedding, its dual, and its mirror image. Furthermore, just two operators are sufficient for building and modifying arbitrary diagrams.
Planning Algorithms
, 2004
"... This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning ..."
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Cited by 1108 (51 self)
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This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning under uncertainty, sensorbased planning, visibility, decisiontheoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.
Knowledge and Common Knowledge in a Distributed Environment
 Journal of the ACM
, 1984
"... : Reasoning about knowledge seems to play a fundamental role in distributed systems. Indeed, such reasoning is a central part of the informal intuitive arguments used in the design of distributed protocols. Communication in a distributed system can be viewed as the act of transforming the system&apo ..."
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Cited by 577 (55 self)
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: Reasoning about knowledge seems to play a fundamental role in distributed systems. Indeed, such reasoning is a central part of the informal intuitive arguments used in the design of distributed protocols. Communication in a distributed system can be viewed as the act of transforming the system's state of knowledge. This paper presents a general framework for formalizing and reasoning about knowledge in distributed systems. We argue that states of knowledge of groups of processors are useful concepts for the design and analysis of distributed protocols. In particular, distributed knowledge corresponds to knowledge that is "distributed" among the members of the group, while common knowledge corresponds to a fact being "publicly known". The relationship between common knowledge and a variety of desirable actions in a distributed system is illustrated. Furthermore, it is shown that, formally speaking, in practical systems common knowledge cannot be attained. A number of weaker variants...
Scalable Application Layer Multicast
, 2002
"... We describe a new scalable applicationlayer multicast protocol, specifically designed for lowbandwidth, data streaming applications with large receiver sets. Our scheme is based upon a hierarchical clustering of the applicationlayer multicast peers and can support a number of different data deliv ..."
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Cited by 719 (21 self)
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We describe a new scalable applicationlayer multicast protocol, specifically designed for lowbandwidth, data streaming applications with large receiver sets. Our scheme is based upon a hierarchical clustering of the applicationlayer multicast peers and can support a number of different data delivery trees with desirable properties. We present extensive simulations of both our protocol and the Narada applicationlayer multicast protocol over Internetlike topologies. Our results show that for groups of size 32 or more, our protocol has lower link stress (by about 25%), improved or similar endtoend latencies and similar failure recovery properties. More importantly, it is able to achieve these results by using orders of magnitude lower control traffic. Finally, we present results from our widearea testbed in which we experimented with 32100 member groups distributed over 8 different sites. In our experiments, averagegroup members established and maintained lowlatency paths and incurred a maximum packet loss rate of less than 1 % as members randomly joined and left the multicast group. The average control overhead during our experiments was less than 1 Kbps for groups of size 100.
OPTICS: Ordering Points To Identify the Clustering Structure
, 1999
"... Cluster analysis is a primary method for database mining. It is either used as a standalone tool to get insight into the distribution of a data set, e.g. to focus further analysis and data processing, or as a preprocessing step for other algorithms operating on the detected clusters. Almost all of ..."
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Cited by 511 (49 self)
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Cluster analysis is a primary method for database mining. It is either used as a standalone tool to get insight into the distribution of a data set, e.g. to focus further analysis and data processing, or as a preprocessing step for other algorithms operating on the detected clusters. Almost all of the wellknown clustering algorithms require input parameters which are hard to determine but have a significant influence on the clustering result. Furthermore, for many realdata sets there does not even exist a global parameter setting for which the result of the clustering algorithm describes the intrinsic clustering structure accurately. We introduce a new algorithm for the purpose of cluster analysis which does not produce a clustering of a data set explicitly; but instead creates an augmented ordering of the database representing its densitybased clustering structure. This clusterordering contains information which is equivalent to the densitybased clusterings corresponding to a broad range of parameter settings. It is a versatile basis for both automatic and interactive cluster analysis. We show how to automatically and efficiently extract not only ‘traditional ’ clustering information (e.g. representative points, arbitrary shaped clusters), but also the intrinsic clustering structure. For medium sized data sets, the clusterordering can be represented graphically and for very large data sets, we introduce an appropriate visualization technique. Both are suitable for interactive exploration of the intrinsic clustering structure offering additional insights into the distribution and correlation of the data.
Making the most of statistical analyses: Improving interpretation and presentation
 American Journal of Political Science
, 2000
"... Social scientists rarely take full advantage of the information available in their statistical results. As a consequence, they miss opportunities to present quantities that are of greatest substantive interest for their research and express the appropriate degree of certainty about these quantities. ..."
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Cited by 550 (24 self)
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Social scientists rarely take full advantage of the information available in their statistical results. As a consequence, they miss opportunities to present quantities that are of greatest substantive interest for their research and express the appropriate degree of certainty about these quantities. In this article, we offer an approach, built on the technique of statistical simulation, to extract the currently overlooked information from any statistical method and to interpret and present it in a readerfriendly manner. Using this technique requires some expertise,
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