scholarly journals Integral Matrix Gram Root and Lattice Gaussian Sampling Without Floats

Author(s):  
Léo Ducas ◽  
Steven Galbraith ◽  
Thomas Prest ◽  
Yang Yu
Author(s):  
Séamus Brannigan ◽  
Maire O’Neill ◽  
Ayesha Khalid ◽  
Ciara Rafferty
Keyword(s):  

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142096907
Author(s):  
Naifeng Wen ◽  
Rubo Zhang ◽  
Guanqun Liu ◽  
Junwei Wu ◽  
Xingru Qu

The study is concerned with the problem of online planning low-cost cooperative paths; those are energy-efficient, easy-to-execute, and low collision probability for unmanned surface vehicles (USVs) based on the artificial vector field and environmental heuristics. First, we propose an artificial vector field method by following the global optimally path and the current to maximize the known environmental information. Then, to improve the optimal rapidly exploring random tree (RRT*) based planner by the environment heuristics, a Gaussian sampling scheme is adopted to seek for the likely samples that locate near obstacles. Meanwhile, a multisampling strategy is proposed to choose low-cost path tree extensions locally. The vector field guidance, the Gaussian sampling scheme, and the multisampling strategy are used to improve the efficiency of RRT* to obtain a low-cost path for the virtual leader of USVs. To promote the accuracy of collision detection during the execution process of RRT*, an ellipse function-based bounding box for USVs is proposed with the consideration of the current. Finally, an information consensus scheme is employed to quickly calculate cooperative paths for a fleet of USVs guided by the virtual leader. Simulation results show that our online cooperative path planning method is performed well in the practical marine environment.


1987 ◽  
Vol 30 (3) ◽  
pp. 351-362 ◽  
Author(s):  
W. D. Burgess

The Cartan matrix C of a left artinian ring A, with indecomposable projectives P1,…,Pn and corresponding simples Si=Pi/JPi, is an n×n integral matrix with entries Cij, the number of copies of the simple sj which appear as composition factors of Pi. A relationship between the invertibility of this matrix (as an integral matrix) and the finiteness of the global dimension has long been known: gl dim A < ∞⇒det C = ± 1 (Eilenberg [3]). More recently Zacharia [9] has shown that gl dim A ≦ 2⇒det C = 1, and in fact no rings of finite global dimension are known with det C = −1. The converse, det C = l⇒gl dim A < ∞, is false, as easy examples show ([[1) or [3]). However if A is left serial, gl dim A < ∞iff det C = l [1]. If A = ⊕n ≧ 0 An is ℤ-graded and the radical J = ⊕n ≧ 0 An, Wilson [8] calls such rings positively graded. Here there is a graded Cartan matrix with entries from ℤ[X] and gl dim A < ∞⇒det = 1 and, hence, det C = l [8, Prop. 2.2].


2003 ◽  
Vol 72 (243) ◽  
pp. 1511-1530 ◽  
Author(s):  
Bettina Eick ◽  
Gretchen Ostheimer

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