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Akshar Chavan

Publications and source records attributed to Akshar Chavan.

2 recordsLinked to original sources

Speeding-up Graph Algorithms via Clique Partitioning

Reducing the running time of graph algorithms is vital for tackling real-world problems such as shortest paths and matching in large-scale graphs, where path information plays a crucial role. To address this critical challenge, this paper introduces a graph restructuring algorithm that identifies bipartite cliques and replaces them with tripartite graphs. This restructuring leads to fewer edges while preserving complete graph path information, enabling the direct application of algorithms like matching and all-pairs shortest paths to achieve significant runtime reductions, especially for large, dense graphs. The running time of the proposed algorithm for a graph $G(V,E)$, with $|V| = n$ and $|E| = m$ is~$O(mn^\delta)$, which is better than $O(mn^\delta \log^2 n)$, the running time of the best existing algorithm for speeding-up other graph algorithms (the Feder-Motwani (\textsf{FM}) algorithm), where $0 \leq \delta \leq 1$. Both the \textsf{FM} algorithm and the proposed algorithm are originally formulated for bipartite graphs, but can also be applied to general directed or undirected graphs. Our extensive experimental analysis demonstrates that the proposed algorithm achieves up to 21.26\% higher reduction in the number of edges and runs up to 105.18$\times$ faster than the \textsf{FM} algorithm. On large synthetic graphs with up to 1.05 billion edges, it attains a reduction in the number of edges of up to 74.36\%. On real-world graphs, it achieves a reduction in the number of edges by up to 46.8\%. Furthermore, when used as a preprocessing step, our approach yields up to a 2.07$\times$ speedup for the matching algorithms on large synthetic graphs, and up to a 1.74$\times$ speedup for the All-Pairs Shortest Path algorithms on real-world graphs, when compared to using the given graph as input.

cs.DS

Rethinking Energy Management for Autonomous Ground Robots on a Budget

Autonomous Ground Robots (AGRs) face significant challenges due to limited energy reserve, which restricts their overall performance and availability. Prior research has focused separately on energy-efficient approaches and fleet management strategies for task allocation to extend operational time. A fleet-level scheduler, however, assumes a specific energy consumption during task allocation, requiring the AGR to fully utilize the energy for maximum performance, which contrasts with energy-efficient practices. This paper addresses this gap by investigating the combined impact of computing frequency and locomotion speed on energy consumption and performance. We analyze these variables through experiments on our prototype AGR, laying the foundation for an integrated approach that optimizes cyber-physical resources within the constraints of a specified energy budget. To tackle this challenge, we introduce PECC (Predictable Energy Consumption Controller), a framework designed to optimize computing frequency and locomotion speed to maximize performance while ensuring the system operates within the specified energy budget. We conducted extensive experiments with PECC using a real AGR and in simulations, comparing it to an energy-efficient baseline. Our results show that the AGR travels up to 17\% faster than the baseline in real-world tests and up to 31\% faster in simulations, while consuming 95\% and 91\% of the given energy budget, respectively. These results prove that PECC can effectively enhance AGR performance in scenarios where prioritizing the energy budget outweighs the need for energy efficiency.

cs.RO