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283
The University of Florida sparse matrix collection
 NA DIGEST
, 1997
"... The University of Florida Sparse Matrix Collection is a large, widely available, and actively growing set of sparse matrices that arise in real applications. Its matrices cover a wide spectrum of problem domains, both those arising from problems with underlying 2D or 3D geometry (structural enginee ..."
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Cited by 322 (15 self)
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The University of Florida Sparse Matrix Collection is a large, widely available, and actively growing set of sparse matrices that arise in real applications. Its matrices cover a wide spectrum of problem domains, both those arising from problems with underlying 2D or 3D geometry (structural engineering, computational fluid dynamics, model reduction, electromagnetics, semiconductor devices, thermodynamics, materials, acoustics, computer graphics/vision, robotics/kinematics, and other discretizations) and those that typically do not have such geometry (optimization, circuit simulation, networks and graphs, economic and financial modeling, theoretical and quantum chemistry, chemical process simulation, mathematics and statistics, and power networks). The collection meets a vital need that artificiallygenerated matrices cannot meet, and is widely used by the sparse matrix algorithms community for the development and performance evaluation of sparse matrix algorithms. The collection includes software for accessing and managing the collection, from MATLAB, Fortran, and C.
Multifrontal Parallel Distributed Symmetric and Unsymmetric Solvers
, 1998
"... We consider the solution of both symmetric and unsymmetric systems of sparse linear equations. A new parallel distributed memory multifrontal approach is described. To handle numerical pivoting efficiently, a parallel asynchronous algorithm with dynamic scheduling of the computing tasks has been dev ..."
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Cited by 130 (29 self)
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We consider the solution of both symmetric and unsymmetric systems of sparse linear equations. A new parallel distributed memory multifrontal approach is described. To handle numerical pivoting efficiently, a parallel asynchronous algorithm with dynamic scheduling of the computing tasks has been developed. We discuss some of the main algorithmic choices and compare both implementation issues and the performance of the LDL T and LU factorizations. Performance analysis on an IBM SP2 shows the efficiency and the potential of the method. The test problems used are from the RutherfordBoeing collection and from the PARASOL end users.
Preconditioning techniques for large linear systems: A survey
 J. COMPUT. PHYS
, 2002
"... This article surveys preconditioning techniques for the iterative solution of large linear systems, with a focus on algebraic methods suitable for general sparse matrices. Covered topics include progress in incomplete factorization methods, sparse approximate inverses, reorderings, parallelization i ..."
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Cited by 118 (5 self)
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This article surveys preconditioning techniques for the iterative solution of large linear systems, with a focus on algebraic methods suitable for general sparse matrices. Covered topics include progress in incomplete factorization methods, sparse approximate inverses, reorderings, parallelization issues, and block and multilevel extensions. Some of the challenges ahead are also discussed. An extensive bibliography completes the paper.
Solving unsymmetric sparse systems of linear equations with PARDISO
 Journal of Future Generation Computer Systems
, 2004
"... Supernode partitioning for unsymmetric matrices together with complete block diagonal supernode pivoting and asynchronous computation can achieve high gigaflop rates for parallel sparse LU factorization on shared memory parallel computers. The progress in weighted graph matching algorithms helps to ..."
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Cited by 110 (10 self)
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Supernode partitioning for unsymmetric matrices together with complete block diagonal supernode pivoting and asynchronous computation can achieve high gigaflop rates for parallel sparse LU factorization on shared memory parallel computers. The progress in weighted graph matching algorithms helps to extend these concepts further and unsymmetric prepermutation of rows is used to place large matrix entries on the diagonal. Complete block diagonal supernode pivoting allows dynamical interchanges of columns and rows during the factorization process. The level3 BLAS efficiency is retained and an advanced twolevel left–right looking scheduling scheme results in good speedup on SMP machines. These algorithms have been integrated into the recent unsymmetric version of the PARDISO solver. Experiments demonstrate that a wide set of unsymmetric linear systems can be solved and high performance is consistently achieved for large sparse unsymmetric matrices from real world applications. Key words: Computational sciences, numerical linear algebra, direct solver, unsymmetric linear systems
SuperLU DIST: A scalable distributedmemory sparse direct solver for unsymmetric linear systems
 ACM Trans. Mathematical Software
, 2003
"... We present the main algorithmic features in the software package SuperLU DIST, a distributedmemory sparse direct solver for large sets of linear equations. We give in detail our parallelization strategies, with a focus on scalability issues, and demonstrate the software’s parallel performance and sc ..."
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Cited by 105 (19 self)
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We present the main algorithmic features in the software package SuperLU DIST, a distributedmemory sparse direct solver for large sets of linear equations. We give in detail our parallelization strategies, with a focus on scalability issues, and demonstrate the software’s parallel performance and scalability on current machines. The solver is based on sparse Gaussian elimination, with an innovative static pivoting strategy proposed earlier by the authors. The main advantage of static pivoting over classical partial pivoting is that it permits a priori determination of data structures and communication patterns, which lets us exploit techniques used in parallel sparse Cholesky algorithms to better parallelize both LU decomposition and triangular solution on largescale distributed machines.
iSAM: Incremental Smoothing and Mapping
, 2008
"... We present incremental smoothing and mapping (iSAM), a novel approach to the simultaneous localization and mapping problem that is based on fast incremental matrix factorization. iSAM provides an efficient and exact solution by updating a QR factorization of the naturally sparse smoothing informatio ..."
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Cited by 92 (27 self)
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We present incremental smoothing and mapping (iSAM), a novel approach to the simultaneous localization and mapping problem that is based on fast incremental matrix factorization. iSAM provides an efficient and exact solution by updating a QR factorization of the naturally sparse smoothing information matrix, therefore recalculating only the matrix entries that actually change. iSAM is efficient even for robot trajectories with many loops as it avoids unnecessary fillin in the factor matrix by periodic variable reordering. Also, to enable data association in realtime, we provide efficient algorithms to access the estimation uncertainties of interest based on the factored information matrix. We systematically evaluate the different components of iSAM as well as the overall algorithm using various simulated and realworld datasets for both landmark and poseonly settings.
Square Root SAM: Simultaneous localization and mapping via square root information smoothing
 International Journal of Robotics Reasearch
, 2006
"... Solving the SLAM problem is one way to enable a robot to explore, map, and navigate in a previously unknown environment. We investigate smoothing approaches as a viable alternative to extended Kalman filterbased solutions to the problem. In particular, we look at approaches that factorize either th ..."
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Cited by 91 (32 self)
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Solving the SLAM problem is one way to enable a robot to explore, map, and navigate in a previously unknown environment. We investigate smoothing approaches as a viable alternative to extended Kalman filterbased solutions to the problem. In particular, we look at approaches that factorize either the associated information matrix or the measurement Jacobian into square root form. Such techniques have several significant advantages over the EKF: they are faster yet exact, they can be used in either batch or incremental mode, are better equipped to deal with nonlinear process and measurement models, and yield the entire robot trajectory, at lower cost for a large class of SLAM problems. In addition, in an indirect but dramatic way, column ordering heuristics automatically exploit the locality inherent in the geographic nature of the SLAM problem. In this paper we present the theory underlying these methods, along with an interpretation of factorization in terms of the graphical model associated with the SLAM problem. We present both simulation results and actual SLAM experiments in largescale environments that underscore the potential of these methods as an alternative to EKFbased approaches. 1
A Combined Unifrontal/Multifrontal Method for Unsymmetric Sparse Matrices
 ACM TRANSACTIONS ON MATHEMATICAL SOFTWARE
, 1995
"... We discuss the organization of frontal matrices in multifrontal methods for the solution of large sparse sets of unsymmetric linear equations. In the multifrontal method, work on a frontal matrix can be suspended, the frontal matrix can be stored for later reuse, and a new frontal matrix can be g ..."
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Cited by 81 (14 self)
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We discuss the organization of frontal matrices in multifrontal methods for the solution of large sparse sets of unsymmetric linear equations. In the multifrontal method, work on a frontal matrix can be suspended, the frontal matrix can be stored for later reuse, and a new frontal matrix can be generated. There are thus several frontal matrices stored during the factorization and one or more or these are assembled (summed) when creating a new frontal matrix. Although this means that arbitrary sparsity patterns can be handled efficiently, extra work is required to sum the frontal matrices together and can be costly because indirect addressing is required. The (uni)frontal method avoids this extra work by factorizing the matrix with a single frontal matrix. Rows and columns are added to the frontal matrix, and pivot rows and columns are removed. Data movement is simpler, but higher fillin can result if the matrix cannot be permuted into a variableband form with small profile...
A column preordering strategy for the unsymmetricpattern multifrontal method
 ACM Transactions on Mathematical Software
, 2004
"... A new method for sparse LU factorization is presented that combines a column preordering strategy with a rightlooking unsymmetricpattern multifrontal numerical factorization. The column ordering is selected to give a good a priori upper bound on fillin and then refined during numerical factoriza ..."
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Cited by 67 (5 self)
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A new method for sparse LU factorization is presented that combines a column preordering strategy with a rightlooking unsymmetricpattern multifrontal numerical factorization. The column ordering is selected to give a good a priori upper bound on fillin and then refined during numerical factorization (while preserving the bound). Pivot rows are selected to maintain numerical stability and to preserve sparsity. The method analyzes the matrix and automatically selects one of three preordering and pivoting strategies. The number of nonzeros in the LU factors computed by the method is typically less than or equal to those found by a wide range of unsymmetric sparse LU factorization methods, including leftlooking methods and prior multifrontal methods.