A* search algorithm

Summary

A* (pronounced "A-star") is a graph traversal and path search algorithm, which is used in many fields of computer science due to its completeness, optimality, and optimal efficiency. One major practical drawback is its O(b^d) space complexity, as it stores all generated nodes in memory. Thus, in practical travel-routing systems, it is generally outperformed by algorithms that can pre-process the graph to attain better performance, as well as memory-bounded approaches; however, A* is still the best solution in many cases. Peter Hart, Nils Nilsson and Bertram Raphael of Stanford Research Institute (now SRI International) first published the algorithm in 1968. It can be seen as an extension of Dijkstra's algorithm. A* achieves better performance by using heuristics to guide its search. Compared to Dijkstra's algorithm, the A* algorithm only finds the shortest path from a specified source to a specified goal, and not the shortest-path tree from a specified source to all poss

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\tilde{O}(n^{2/3})

-spanner using the above-mentioned almost-optimal single-pass spectral sparsifier, resulting in the first single-pass algorithm for non-trivial spanner construction in the literature. Then, we generalize this result to constructing

\tilde{O}(n^{2/3(1-\alpha)})

-spanners using

\tilde{O}(n^{1+\alpha})

space for any

\alpha \in [0,1]

, providing a smooth trade-off between distortion and memory complexity. Moreover, we study the simultaneous communication model and propose a novel protocol with low per player information. Also, we show how one can leverage more rounds of communication in this setting to achieve better distortion guarantees. Finally, in the third part of this thesis, we study the kernel density estimation problem. In this problem, given a kernel function, an input dataset imposes a kernel density on the space. The goal is to design fast and memory-efficient data structures that can output approximations to the kernel density at queried points. This thesis presents a data structure based on the classical near neighbor search and locality-sensitive hashing techniques that improves or matches the query time and space complexity for radial kernels considered in the literature. The approach is based on an implementation of (approximate) importance sampling for each distance range and then using near neighbor search algorithms to recover points from these distance ranges. Later, we show how to improve the runtime, using recent advances in the data-dependent near neighbor search data structures, for a class of radial kernels that includes the Gaussian kernel.

EPFL2022

We consider stochastic approximation for the least squares regression problem in the non-strongly convex setting. We present the first practical algorithm that achieves the optimal prediction error rates in terms of dependence on the noise of the problem, as

O(d/t)

while accelerating the forgetting of the initial conditions to

O(d/t^2)

. Our new algorithm is based on a simple modification of the accelerated gradient descent. We provide convergence results for both the averaged and the last iterate of the algorithm. In order to describe the tightness of these new bounds, we present a matching lower bound in the noiseless setting and thus show the optimality of our algorithm.

2022

Real Time Emotional Control for Anti-Swing and Positioning Control of SIMO Overhead Traveling Crane

Arash Arami, Babak Hosseini

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2008

O(d/t)

while accelerating the forgetting of the initial conditions to

O(d/t^2)

2022

\tilde{O}(n^{2/3})

\tilde{O}(n^{2/3(1-\alpha)})

-spanners using

\tilde{O}(n^{1+\alpha})

space for any

\alpha \in [0,1]

EPFL2022