Related papers: Polygon Exploration with Time-Discrete Vision
It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation.A key insight explored in this work is that the loop-closing event inherently occurs sparsely, that is, the image currently being…
We investigate a practical variant of the well-known polygonal visibility path (watchman) problem. For a polygon $P$, a minimum link visibility path is a polygonal visibility path in $P$ that has the minimum number of links. The problem of…
We investigate several online packing problems in which convex polygons arrive one by one and have to be placed irrevocably into a container, while the aim is to minimize the used space. Among other variants, we consider strip packing and…
We devise an algorithm for surveying a dynamic orthogonal polygonal domain by placing one guard at each vertex in a subset of its vertices, i.e., whenever an orthogonal polygonal domain {\cal P'} is modified to result in another orthogonal…
Polygon clipping is a frequent operation in Arbitrary Lagrangian-Eulerian methods, Computer Graphics, GIS, and CAD. In fact, clipping algorithms are said to be one of the most important operations in computer graphics. Thus, efficient and…
We show that several problems of compacting orthogonal graph drawings to use the minimum number of rows, area, length of longest edge or total edge length cannot be approximated better than within a polynomial factor of optimal in…
Embodied computer vision considers perception for robots in novel, unstructured environments. Of particular importance is the embodied visual exploration problem: how might a robot equipped with a camera scope out a new environment? Despite…
Orthogonal drawings, i.e., embeddings of graphs into grids, are a classic topic in Graph Drawing. Often the goal is to find a drawing that minimizes the number of bends on the edges. A key ingredient for bend minimization algorithms is the…
Let $P$ be an orthogonal polygon of $n$ vertices, without holes. The Orthogonal Polygon Covering with Squares (OPCS) problem takes as input such an orthogonal polygon $P$ with integral vertex coordinates, and asks to find the minimum number…
Given a set of $n$ point robots inside a simple polygon $P$, the task is to move the robots from their starting positions to their target positions along their shortest paths, while the mutual visibility of these robots is preserved.…
We study partial and budgeted versions of the well studied connected dominating set problem. In the partial connected dominating set problem, we are given an undirected graph G = (V,E) and an integer n', and the goal is to find a minimum…
This paper investigates the convex optimization problem with general convex inequality constraints. To cope with this problem, a discrete-time algorithm, called augmented primal-dual gradient algorithm (Aug-PDG), is studied and analyzed. It…
Many classical and modern machine learning algorithms require solving optimization tasks under orthogonality constraints. Solving these tasks with feasible methods requires a gradient descent update followed by a retraction operation on the…
Let $P$ be a path graph of $n$ vertices embedded in a metric space. We consider the problem of adding a new edge to $P$ so that the radius of the resulting graph is minimized, where any center is constrained to be one of the vertices of…
The goal of random sequential adsorption (RSA), a time-dependent packing method, is to create a regular or asymmetric covering of an empty space that can fit in the allocated space without overlapping. The density of coverage tends to reach…
Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…
It is well-known that modern computer vision systems often exhibit behaviors misaligned with those of humans: from adversarial attacks to image corruptions, deep learning vision models suffer in a variety of settings that humans capably…
A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each…
We present new refinement heuristics for the balanced graph partitioning problem that break with an age-old rule. Traditionally, local search only permits moves that keep the block sizes balanced (below a size constraint). In this work, we…
We consider the most common variants of linear regression, including Ridge, Lasso and Support-vector regression, in a setting where the learner is allowed to observe only a fixed number of attributes of each example at training time. We…