Topology Based Scalable Graph Kernels

We propose a new graph kernel for graph classification and comparison using Ollivier Ricci curvature. The Ricci curvature of an edge in a graph describes the connectivity in the local neighborhood. An edge in a densely connected neighborhood has positive curvature and an edge serving as a local bridge has negative curvature. We use the edge curvature distribution to form a graph kernel which is then used to compare and cluster graphs. The curvature kernel uses purely the graph topology and thereby works for settings when node attributes are not available.

Robot Coverage Path Planning for General Surfaces Using Quadratic Differentials

Robot Coverage Path planning (i.e., provide full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal is to provide nearly full coverage while also minimize duplicately visited area. In this paper we focus on the scenario of path planning on general surfaces including planar domains with complex topology, complex terrain or general surface in 3D space. The main idea is to adopt a natural, intrinsic and global parametrization of the surface for robot path planning, namely the holomorphic quadratic differentials. Except for a small number of zero points (singularities), each point on the surface is given a uv-coordinates naturally represented by a complex number. We show that natural, efficient robot paths can be obtained by using such coordinate systems. The method is based on intrinsic geometry and thus can be adapted to general surface exploration in 3D.