The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...
We relate discrepancy theory with the classic scheduling problems of minimizing max flow time and total flow time on unrelated machines. Specifically, we give a general reduction that allows us to transfer discrepancy bounds in the prefix Beck-Fiala (bound ...
This paper describes a novel method for non-holonomic robots of convex shape to avoid imminent collisions with moving obstacles. The method's purpose is to assist navigation in crowds by correcting steering from the robot's path planner or driver. We evalu ...
It has been experimentally observed that the efficiency of distributed training with stochastic gradient (SGD) depends decisively on the batch size and—in asynchronous implementations—on the gradient staleness. Especially, it has been observed that the spe ...
We consider the problem of finding a saddle point for the convex-concave objective minxmaxyf(x)+⟨Ax,y⟩−g∗(y), where f is a convex function with locally Lipschitz gradient and g is convex and possibly non-smooth. We propose an ...
We present a strikingly simple proof that two rules are sufficient to automate gradient descent: 1) don’t increase the stepsize too fast and 2) don’t overstep the local curvature. No need for functional values, no line search, no information about the func ...
This paper introduces a new algorithm for consensus optimization in a multi-agent network, where all agents collaboratively find a minimizer for the sum of their private functions. All decentralized algorithms rely on communications between adjacent nodes. ...
We explore upper bounds on the covering radius of non-hollow lattice polytopes. In particular, we conjecture a general upper bound of d/2 in dimension d, achieved by the "standard terminal simplices" and direct sums of them. We prove this conjecture up to ...
Combining diffusion strategies with complementary properties enables enhanced performance when they can be run simultaneously. In this article, we first propose two schemes for the convex combination of two diffusion strategies, namely, the power-normalize ...
In the Convex Body Chasing problem, we are given an initial point v0. Rd and an online sequence of n convex bodies F1,..., Fn. When we receive Ft, we are required to move inside Ft. Our goal is to minimize the total distance traveled. This fundamental onli ...
