Improved weighted additive spanners

Elkin, Michael; Gitlitz, Yuval; Neiman, Ofer

doi:10.1007/s00446-022-00433-x

Cited by 1 publication

(2 citation statements)

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“…The spanner need not meet our budget constraint, hence we use it just as initialization for D-Lite. We adapt the algorithm in [24,Section 5] to build a spanner of the full DSG with additive path stretch. The procedure initializes the spanner with a random selection of edges: to exploit the DSG hierarchy, we modify the original algorithm by manually adding cross-layer edges during the initialization.…”

Section: B Building a Dsg Spannermentioning

confidence: 99%

“…For example, spanning trees and Steiner trees are the smallest subgraphs maintaining connectivity in undirected graphs [20], [21]. Graph spanners remove a subset of edges while allowing for a user-defined maximum distortion of shortest paths [22]- [24]. A special case are distance preservers [25] that prune graphs but keep unaltered the distances for specified node pairs.…”

Section: Introductionmentioning

confidence: 99%

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D-Lite: Navigation-Oriented Compression of 3D Scene Graphs for Multi-Robot Collaboration

Chang,

Ballotta,

Carlone

2023

IEEE Robot. Autom. Lett.

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For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that the collected information is efficiently shared among robots in order to support exploration and navigation tasks. Practical constraints of wireless channels, such as limited bandwidth, urge robots to carefully select information to be transmitted. In this letter, we consider the case where environmental information is modeled using a 3D Scene Graph, a hierarchical map representation that describes both geometric and semantic aspects of the environment. Then, we leverage graph-theoretic tools, namely graph spanners, to design greedy algorithms that efficiently compress 3D Scene Graphs with the aim of enabling communication between robots under bandwidth constraints. Our compression algorithms are navigation-oriented in that they are designed to approximately preserve shortest paths between locations of interest while meeting a user-specified communication budget constraint. The effectiveness of the proposed algorithms is demonstrated in robot navigation experiments in a realistic simulator.

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Section: B Building a Dsg Spannermentioning

confidence: 99%