A summary of team MIT's approach to the virtual robotics challenge

The paper describes the system developed by researchers from MIT for the Defense Advanced Research Projects Agency's (DARPA) Virtual Robotics Challenge (VRC), held in June 2013. The VRC was the first competition in the DARPA Robotics Challenge (DRC), a program that aims to “develop ground robotic capabilities to execute complex tasks in dangerous, degraded, human-engineered environments”. The VRC required teams to guide a model of Boston Dynamics' humanoid robot, Atlas, through driving, walking, and manipulation tasks in simulation. Team MIT's user interface, the Viewer, provided the operator with a unified representation of all available information. A 3D rendering of the robot depicted its most recently estimated body state with respect to the surrounding environment, represented by point clouds and texture-mapped meshes as sensed by on-board LIDAR and fused over time

New polynomial delay bounds for maximal subgraph enumeration by proximity search

In this paper we propose polynomial delay algorithms for several maximal subgraph listing problems, by means of a seemingly novel technique which we call proximity search. Our result involves modeling the space of solutions as an implicit directed graph called “solution graph”, a method common to other enumeration paradigms such as reverse search. Such methods, however, can become inefficient due to this graph having vertices with high (potentially exponential) degree. The novelty of our algorithm consists in providing a technique for generating better solution graphs, reducing the out-degree of its vertices with respect to existing approaches, and proving that it remains strongly connected. Applying this technique, we obtain polynomial delay listing algorithms for several problems for which output-sensitive results were, to the best of our knowledge, not known. These include Maximal Bipartite Subgraphs, Maximal k-Degenerate Subgraphs (for bounded k), Maximal Induced Chordal Subgraphs, and Maximal Induced Trees. We present these algorithms, and give insight on how this general technique can be applied to other problems