Pose graph optimization (PGO) is fundamental to robot perception and navigation systems, serving as the mathematical backbone for solving simultaneous localization and mapping (SLAM). Existing solvers suffer from polynomial growth in computational complexity with graph size, hindering real-time deployment in large-scale scenarios. In this paper, by duplicating variables and introducing equality constraints, we reformulate the problem and propose a Parallelizable Riemannian Alternating Direction Method of Multipliers (PRADMM) to solve it efficiently. Compared with the state-of-the-art methods that usually exhibit polynomial time complexity growth with graph size, PRADMM enables efficient parallel computation across vertices regardless of graph size. Crucially, all subproblems admit closed-form solutions, ensuring PRADMM maintains exceptionally stable performance. Furthermore, by carefully exploiting the structures of the coefficient matrices in the constraints, we establish the global convergence of PRADMM under mild conditions, enabling larger relaxation step sizes within the interval (0,2). Extensive empirical validation on two synthetic datasets and multiple real-world 3D SLAM benchmarks confirms the superior computational performance of PRADMM.

In this paper, we consider the multiclass clustering problem involving a hypergraph model. Fundamentally, we study a new normalized Laplacian tensor of an even-uniform weighted hypergraph. The hypergraph's connectivity is related with the second smallest Z-eigenvalue of the proposed Laplacian tensor. Particularly, an analogue of fractional Cheeger inequality holds. Next, we generalize the Laplacian tensor based approach from biclustering to multiclass clustering. A tensor optimization model with an orthogonal constraint is established and analyzed. Finally, we apply our hypergraph clustering approach to image segmentation and motion segmentation problems. Experimental results demonstrate that our method is effective.

Drug repositioning, i.e., identifying new indications for known drugs, has attracted a lot of attentions recently and is becoming an effective strategy in drug development. In literature, several computational approaches have been proposed to identify potential indications of old drugs based on various types of data sources. In this paper, by formulating the drug-disease associations as a low-rank matrix, we propose a novel method, namely DrPOCS, to identify candidate indications of old drugs based on projection onto convex sets (POCS). With the integration of drug structure and disease phenotype information, DrPOCS predicts potential associations between drugs and diseases with matrix completion. Benchmarking results demonstrate that our proposed approach outperforms popular existing approaches with high accuracy. In addition, a number of novel predicted indications are validated with various types of evidences, indicating the predictive power of our proposed approach.

Due to the well-known limitations of diffusion tensor imaging, high angular resolution diffusion imaging (HARDI) is used to characterize non-Gaussian diffusion processes. One approach to analyzing HARDI data is to model the apparent diffusion coefficient (ADC) with higher order diffusion tensors. The diffusivity function is positive semidefinite. In the literature, some methods have been proposed to preserve positive semidefiniteness of second order and fourth order diffusion tensors. None of them can work for arbitrarily high order diffusion tensors. In this paper, we propose a comprehensive model to approximate the ADC profile by a positive semidefinite diffusion tensor of either second or higher order. We call this the positive semidefinite diffusion tensor (PSDT) model. PSDT is a convex optimization problem with a convex quadratic objective function constrained by the nonnegativity requirement on the smallest Z-eigenvalue of the diffusivity function. The smallest Z-eigenvalue is a computable measure of the extent of positive definiteness of the diffusivity function. We also propose some other invariants for the ADC profile analysis. Experiment results show that higher order tensors could improve the estimation of anisotropic diffusion and that the PSDT model can depict the characterization of diffusion anisotropy which is consistent with known neuroanatomy.

Variational inequality is a uniform approach for many important optimization and equilibrium problems. Based on the sufficient and necessary conditions of the solution, this paper presents a novel neural network model for solving variational inequalities with linear and nonlinear constraints. Three sufficient conditions are provided to ensure that the proposed network with an asymmetric mapping is stable in the sense of Lyapunov and converges to an exact solution of the original problem. Meanwhile, the proposed network with a gradient mapping is also proved to be stable in the sense of Lyapunov and to have a finite-time convergence under some mild condition by using a new energy function. Compared with the existing neural networks, the new model can be applied to solve some nonmonotone problems, has no adjustable parameter, and has lower complexity. Thus, the structure of the proposed network is very simple. Since the proposed network can be used to solve a broad class of optimization problems, it has great application potential. The validity and transient behavior of the proposed neural network are demonstrated by several numerical examples.

Following our recent approach of nonsmooth analysis, we report a new set of sufficient conditions and its implications for the global asymptotic stability of delayed cellular neural networks (DCNN). The new conditions not only unify a string of previous stability results, but also yield strict improvement over them by allowing the symmetric part of the feedback matrix positive definite, hence enlarging the application domain of DCNNs. Advantages of the new results over existing ones are illustrated with examples. We also compare our results with those related results obtained via LMI approach.

In this paper, we obtain new sufficient conditions ensuring existence, uniqueness, and global asymptotic stability (GAS) of the equilibrium point for a general class of delayed neural networks (DNNs) via nonsmooth analysis, which makes full use of the Lipschitz property of functions defining DNNs. Based on this new tool of nonsmooth analysis, we first obtain a couple of general results concerning the existence and uniqueness of the equilibrium point. Then those results are applied to show that existence assumptions on the equilibrium point in some existing sufficient conditions ensuring GAS are actually unnecessary; and some strong assumptions such as the boundedness of activation functions in some other existing sufficient conditions can be actually dropped. Finally, we derive some new sufficient conditions which are easy to check. Comparison with some related existing results is conducted and advantages are illustrated with examples. Throughout our paper, spectral properties of the matrix (A + Atau) play an important role, which is a distinguished feature from previous studies. Here, A and Atau are, respectively, the feedback and the delayed feedback matrix defining the neural network under consideration.