Lower Bounds for Semi-adaptive Data Structures via Corruption

LiDAR sensors play a crucial role in autonomous driving and advanced driver assistance systems. By firing high-rate laser beams, a LiDAR device is able to project its surroundings as 2D or 3D point cloud, which can be used for different purposes such as object detection, map generation, localization, and navigation. Autonomous vehicles are often equipped with at least one multi-layer LiDAR sensor with 360-degree coverage to include as much information as possible in the point cloud. Such a device generates enormous amount of data which poses a challenge for data storage, real-time computation, and data transmission, as autonomous vehicles are typically resource-constrained systems. This paper proposes a lightweight and adaptive point cloud data structure to reduce the size of a 3D point cloud. The suggested data structure can be flexibly configured with different parameters to adapt for precision, distance coverage, and reflectivity resolution. The precision of the data structure is evaluated using a 16-layer Velodyne LiDAR sensor (VLP-16) to collect data in the city area of AstaZero proving ground and Gothenburg downtown. Our results show that the adaptive data structure can consume only 1/8th of the original point cloud size and hence, it is particularly suitable for applications with limited hardware resources or certain tolerance to precision of the point cloud. The suggested concept is also generalizable to other types of point cloud providing sensors.

GreenC5: An adaptive, energy-aware collection for green software development

The question of how to store, manage and access data has been central to the field of Computer Science, and is even more pertinent in these days when megabytes of data are being generated every second. This paper considers the problem of minimizing the cost of data retrieval from the most fundamental data structure, i.e., a Singly-Linked List (SLL). We consider a SLL in which the elements are accessed by a Non-stationary Environment (NSE) exhibiting so-called “Locality of Reference”. We propose a solution to the problem by designing an “Adaptive” Data Structure (ADS) which is created by means of a composite of hierarchical data “sub”-structures to constitute the overall data structure. In this paper, we design an hierarchical Lists-on-Lists (LOLs) by assembling a SLL into an hierarchical scheme that results in a Singly-Linked List on Singly-Linked Lists (SLLs-on-SLLs) comprising of an outer-list and sublist context. The goal is that elements that are more likely to be accessed together are grouped within the same sub-context, while the sublists themselves are moved “en masse” towards the head of the list-context so as to minimize the overall access cost. This move is carried-out by employing the “de-facto” list re-organization schemes, i.e., the Move-To-Front (MTF) and Transposition (TR) rules. To achieve the clustering of elements within the sublists, we invoke the Object Migration Automaton (OMA) family of reinforcement schemes from the theory of Learning Automata (LA). They are introduced so as to capture the probabilistic dependence of the elements in the data structure as it receives query accesses from the Environment. In this paper, we show that SLLs-on-SLLs augmented with the Enhanced Object Migration Automaton (EOMA) minimizes the retrieval cost for elements in NSEs and are superior to the stand-alone MTF and TR schemes, and also superior to the OMA-augmented SLLs-on-SLLs operating in such Environments.

A fundamental question is whether one can maintain a maximum independent set in polylogarithmic update time for a dynamic collection of geometric objects in Euclidean space. Already, for a set of intervals, it is known that no dynamic algorithm can maintain an exact maximum independent set in sublinear update time. Therefore, the typical objective is to explore the trade-off between update time and solution size. Substantial efforts have been made in recent years to understand this question for various families of geometric objects, such as intervals, hypercubes, hyperrectangles, and fat objects. We present the first fully dynamic approximation algorithm for disks of arbitrary radii in the plane that maintains a constant-factor approximate maximum independent set in polylogarithmic expected amortized update time. Moreover, for a fully dynamic set of n disks of unit radius in the plane, we show that a 12-approximate maximum independent set can be maintained with worst-case update time $$O(\log n)$$ <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML"> <mml:mrow> <mml:mi>O</mml:mi> <mml:mo>(</mml:mo> <mml:mo>log</mml:mo> <mml:mi>n</mml:mi> <mml:mo>)</mml:mo> </mml:mrow> </mml:math> , and optimal output-sensitive reporting. This result generalizes to fat objects of comparable sizes in any fixed dimension d , where the approximation ratio depends on the dimension and the fatness parameter. Further, we note that, even for a dynamic set of disks of unit radius in the plane, it is impossible to maintain $$O(1+\varepsilon )$$ <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML"> <mml:mrow> <mml:mi>O</mml:mi> <mml:mo>(</mml:mo> <mml:mn>1</mml:mn> <mml:mo>+</mml:mo> <mml:mi>ε</mml:mi> <mml:mo>)</mml:mo> </mml:mrow> </mml:math> -approximate maximum independent set in truly sublinear update time, under standard complexity assumptions. Our results build on two recent technical tools: (i) The MIX algorithm by Cardinal et al. (2021) that can smoothly transition from one independent set to another; hence it suffices to maintain a family of independent sets where the largest one is a constant-factor approximation of a maximum independent set. (ii) A dynamic nearest/farthest neighbor data structure for disks by Kaplan et al. (2020) and Liu (2022), which generalizes the dynamic convex hull data structure by Chan (2010), and allows us to quickly find a “replacement” disk (if any) when a disk in one of our independent sets is deleted.

the University of Amsterdam, May 20-31, 1974.This Tract collects the lecture notes of five of the courses given.The sixth course, given by Dr. R. Kowalski on Predicate Logic as a Programming Language in Artificial Intelligence, is scheduled to appear elsewhere.We are very grateful to the Netherlands Organization for the Advancement of Pure Research (Z.W.O.)

Dynamic adaptive data structures for monitoring data streams

Histograms are a concise and flexible way to construct summary structures for large data sets. They have attracted a lot of attention in database research due to their utility in many areas, including query optimization, and approximate query answering. They are also a basic tool for data visualization and analysis.In this paper, we present a formal study of dynamic multidimensional histogram structures over continuous data streams. At the heart of our proposal is the use of a dynamic summary data structure (vastly different from a histogram) maintaining a succinct approximation of the data distribution of the underlying continuous stream. On demand, an accurate histogram is derived from this dynamic data structure. We propose algorithms for extracting such an accurate histogram and we analyze their behavior and tradeoffs. The proposed algorithms are able to provide approximate guarantees about the quality of the estimation of the histograms they extract.We complement our analytical results with a thorough experimental evaluation using real data sets.

We study the static and dynamic planar range skyline reporting problem in the external memory model with block size B, under a linear space budget. The problem asks for an O(n/B) space data structure that stores n points in the plane, and supports reporting the k maximal input points (a.k.a.skyline) among the points that lie within a given query rectangle Q = [α1[α2] × [β1β2. When Q is 3-sided, i.e. one of its edges is grounded, two variants arise: top-open for β2 = ∞ and left-open for α1 = - ∞ (symmetrically bottom-open and right-open) queries.We present optimal static data structures for top-open queries, for the cases where the universe is R2, a U × U grid, and rank space [O(n)]2. We also show that left-open queries are harder, as they require Ω((n/B)e + k/B) I/Os for e > 0, when only linear space is allowed. We show that the lower bound is tight, by a structure that supports 4-sided queries in matching complexities. Interestingly, these lower and upper bounds coincide with those of the planar orthogonal range reporting problem, i.e., the skyline requirement does not alter the problem difficulty at all!Finally, we present the first dynamic linear space data structure that supports top-open queries in O(log2Ben + k/B1 e > and updates in O(log2Ben) worst case I/Os, for e ∈ [0, 1]. This also yields a linear space data structure for 4-sided queries with optimal query I/Os and O(log(n/B)) amortized update I/Os. We consider of independent interest the main component of our dynamic structures, a new real-time I/O-efficient and catenable variant of the fundamental structure priority queue with attrition by Sundar.

We formalize the implementation mechanisms required to support or-parallel execution of logic programs in terms of operations on dynamic data structures. Upper and lower bounds are derived, in terms of the number of operationsn performed on the data structure, for the problem of guaranteeing correct semantics during or-parallel execution. The lower bound Ω(lgn) formally proves the impossibility of achieving an ideal implementation (i.e., parallel implementation with constant time overhead per operation). We also derive an upper bound of $$\tilde O\left( {\sqrt[3]{n}} \right)$$ per operation for or-parallel execution. This upper bound is far better than what has been achieved in the existing or-parallel systems and indicates that faster implementations may be feasible.

We investigate the query evaluation problem for fixed queries over fully dynamic databases where tuples can be inserted or deleted. The task is to design a dynamic data structure that can immediately report the new result of a fixed query after every database update. We consider unions of conjunctive queries (UCQs) and focus on the query evaluation tasks testing (decide whether an input tuple belongs to the query result), enumeration (enumerate, without repetition, all tuples in the query result), and counting (output the number of tuples in the query result). We identify three increasingly restrictive classes of UCQs which we call t-hierarchical, q-hierarchical, and exhaustively q-hierarchical UCQs. Our main results provide the following dichotomies: If the query's homomorphic core is t-hierarchical (q-hierarchical, exhaustively q-hierarchical), then the testing (enumeration, counting) problem can be solved with constant update time and constant testing time (delay, counting time). Otherwise, it cannot be solved with sublinear update time and sublinear testing time (delay, counting time), unless the OV-conjecture and/or the OMv-conjecture fails. We also study the complexity of query evaluation in the dynamic setting in the presence of integrity constraints, and we obtain similar dichotomy results for the special case of small domain constraints (i.e., constraints which state that all values in a particular column of a relation belong to a fixed domain of constant size).

We give a number of new lower bounds in the cell probe model&lt;br /&gt;with logarithmic cell size, which entails the same bounds on the random access computer with logarithmic word size and unit cost operations. We study the signed prefix sum problem: given a string of length n of zeroes and signed ones, compute the sum of its ith prefix during updates. We show a&lt;br /&gt;lower bound of Omega(log n/log log n) time per operations, even if the prefix sums are bounded by log n/log log n during all updates. We also show that if the update time is bounded by the product of the worst-case update time and the&lt;br /&gt;answer to the query, then the update time must be Omega(sqrt(log n/ log log n)).&lt;br /&gt; These results allow us to prove lower bounds for a variety of seemingly unrelated&lt;br /&gt;dynamic problems. We give a lower bound for the dynamic planar point location in monotone subdivisions of &lt;br /&gt;Omega(log n/ log log n) per operation. We give&lt;br /&gt;a lower bound for the dynamic transitive closure problem on upward planar graphs with one source and one sink of &lt;br /&gt;Omega(log n/(log logn)^2) per operation. We give a lower bound of Omega(sqrt(log n/log log n)) for the dynamic membership problem of any Dyck language with two or more letters. This implies the same&lt;br /&gt;lower bound for the dynamic word problem for the free group with k generators. We also give lower bounds for the dynamic prefix majority and prefix equality problems.

Automatic parallelization is a promising strategy to improve application performance in the multicore era. However, common programming practices such as the reuse of data structures introduce artificial constraints that obstruct automatic parallelization. Privatization relieves these constraints by replicating data structures, thus enabling scalable parallelization. Prior privatization schemes are limited to arrays and scalar variables because they are sensitive to the layout of dynamic data structures. This work presents Privateer, the first fully automatic privatization system to handle dynamic and recursive data structures, even in languages with unrestricted pointers. To reduce sensitivity to memory layout, Privateer speculatively separates memory objects. Privateer's lightweight runtime system validates speculative separation and speculative privatization to ensure correct parallel execution. Privateer enables automatic parallelization of general-purpose C/C++ applications, yielding a geomean whole-program speedup of 11.4x over best sequential execution on 24 cores, while non-speculative parallelization yields only 0.93x.

We prove new cell-probe lower bounds for dynamic data structures that maintain a subset of {1, 2, ..., n}, and compute various statistics of the set. The data structure is said to handle insertions non-adaptively if the locations of memory accessed depend only on the element being inserted, and not on the contents of the memory. For any such data structure that can compute the median of the set, we prove that:[EQUATION]where tins is the number of memory locations accessed during insertions, tmed is the number of memory locations accessed to compute the median, and w is the number of bits stored in each memory location. When the data structure is able to perform deletions non-adaptively and compute the minimum non-adaptively, we prove[EQUATION]where tmin is the number of locations accessed to compute the minimum, and tdel is the number of locations accessed to perform deletions. For the predecessor search problem, where the data structure is required to compute the predecessor of any element in the set, we prove that if computing the predecessors can be done non-adaptively, then[EQUATION]where tpred is the number of locations accessed to compute predecessors.These bounds are nearly matched by Binary Search Trees in some range of parameters. Our results follow from using the Sunflower Lemma of Erdos and Rado [11] together with several kinds of encoding arguments.

Let P be a set of n points in the Euclidean plane and let C be a convex figure. In 1985, Chazelle and Edelsbrunner presented an algorithm, which preprocesses P such that for any query point q, the points of P in the translate C+q can be retrieved efficiently. Assuming that constant time suffices for deciding the inclusion of a point in C, they provided a space and query time optimal solution. Their algorithm uses O(n) space. A query with output size k can be solved in O( log n+k) time. The preprocessing step of their algorithm, however, has time complexity O(n2). We show that the usage of a new construction method for layers reduces the preprocessing time to O(n log n). We thus provide the first space, query time and preprocessing time optimal solution for this class of point retrieval problems. Besides, we present two new dynamic data structures for these problems. The first dynamic data structure allows on-line insertions and deletions of points in O(( log n)2) time. In this dynamic data structure, a query with output size k can be solved in O( log n+k( log n)2) time. The second dynamic data structure, which allows only semi-online updates, has O(( log n)2) amortized update time and O( log n+k) query time.

Given an array A of n elements, we wish to support queries for the most frequent and least frequent element in a subrange [l, r] of A. We also wish to support updates that change a particular element at index i or insert/ delete an element at index i. For the range mode problem, our data structure supports all operations in O(n^{2/3}) deterministic time using only O(n) space. This improves two results by Chan et al. [Timothy M. Chan et al., 2014]: a linear space data structure supporting update and query operations in O~(n^{3/4}) time and an O(n^{4/3}) space data structure supporting update and query operations in O~(n^{2/3}) time. For the range least frequent problem, we address two variations. In the first, we are allowed to answer with an element of A that may not appear in the query range, and in the second, the returned element must be present in the query range. For the first variation, we develop a data structure that supports queries in O~(n^{2/3}) time, updates in O(n^{2/3}) time, and occupies O(n) space. For the second variation, we develop a Monte Carlo data structure that supports queries in O(n^{2/3}) time, updates in O~(n^{2/3}) time, and occupies O~(n) space, but requires that updates are made independently of the results of previous queries. The Monte Carlo data structure is also capable of answering k-frequency queries; that is, the problem of finding an element of given frequency in the specified query range. Previously, no dynamic data structures were known for least frequent element or k-frequency queries.