Direction Matters: On Influence-Preserving Graph Summarization and Max-Cut Principle for Directed Graphs

Summarizing large-scale directed graphs into small-scale representations is a useful but less-studied problem setting. Conventional clustering approaches, based on Min-Cut-style criteria, compress both the vertices and edges of the graph into the communities, which lead to a loss of directed edge information. On the other hand, compressing the vertices while preserving the directed-edge information provides a way to learn the small-scale representation of a directed graph. The reconstruction error, which measures the edge information preserved by the summarized graph, can be used to learn such representation. Compared to the original graphs, the summarized graphs are easier to analyze and are capable of extracting group-level features, useful for efficient interventions of population behavior. In this letter, we present a model, based on minimizing reconstruction error with nonnegative constraints, which relates to a Max-Cut criterion that simultaneously identifies the compressed nodes and the directed compressed relations between these nodes. A multiplicative update algorithm with column-wise normalization is proposed. We further provide theoretical results on the identifiability of the model and the convergence of the proposed algorithms. Experiments are conducted to demonstrate the accuracy and robustness of the proposed method.

Kalman Filtering for Attitude Estimation with Quaternions and Concepts from Manifold Theory

The problem of attitude estimation is broadly addressed using the Kalman filter formalism and unit quaternions to represent attitudes. This paper is also included in this framework, but introduces a new viewpoint from which the notions of “multiplicative update” and “covariance correction step” are conceived in a natural way. Concepts from manifold theory are used to define the moments of a distribution in a manifold. In particular, the mean and the covariance matrix of a distribution of unit quaternions are defined. Non-linear versions of the Kalman filter are developed applying these definitions. A simulation is designed to test the accuracy of the developed algorithms. The results of the simulation are analyzed and the best attitude estimator is selected according to the adopted performance metric.