Related papers: A nearly optimal algorithm for deciding connectivi…
Many algorithms for determining properties of real algebraic or semi-algebraic sets rely upon the ability to compute smooth points. Existing methods to compute smooth points on semi-algebraic sets use symbolic quantifier elimination tools.…
Motion planning has been studied for nearly four decades now. Complete, combinatorial motion planning approaches are theoretically well-rooted with completeness guarantees but they are hard to implement. Sampling-based and heuristic methods…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
Connected components of real algebraic sets are semi-algebraic, i.e. they are described by a boolean formula whose atoms are polynomial constraints with real coefficients. Computing such descriptions finds topical applications in optical…
Cutwidth of a digraph is a width measure introduced by Chudnovsky, Fradkin, and Seymour [4] in connection with development of a structural theory for tournaments, or more generally, for semi-complete digraphs. In this paper we provide an…
Answering connectivity queries in semi-algebraic sets is a long-standing and challenging computational issue with applications in robotics, in particular for the analysis of kinematic singularities. One task there is to compute the number…
This work studies path planning in two-dimensional space, in the presence of polygonal obstacles. We specifically address the problem of building a roadmap graph, that is, an abstract representation of all the paths that can potentially be…
The paper revisits the robust $s$-$t$ path problem, one of the most fundamental problems in robust optimization. In the problem, we are given a directed graph with $n$ vertices and $k$ distinct cost functions (scenarios) defined over edges,…
We call a digraph {\em $h$-semicomplete} if each vertex of the digraph has at most $h$ non-neighbors, where a non-neighbor of a vertex $v$ is a vertex $u \neq v$ such that there is no edge between $u$ and $v$ in either direction. This…
We push the limit in planning collision-free motions for routing uniform labeled discs in two dimensions. First, from a theoretical perspective, we show that the constant-factor time-optimal routing of labeled discs can be achieved using a…
In the problem of semialgebraic range searching, we are to preprocess a set of points in $\mathbb{R}^D$ such that the subset of points inside a semialgebraic region described by $O(1)$ polynomial inequalities of degree $\Delta$ can be found…
Sampling-based motion planners have proven to be efficient solutions to a variety of high-dimensional, geometrically complex motion planning problems with applications in several domains. The traditional view of these approaches is that…
In this thesis, we consider semi-algebraic sets over a real closed field $R$ defined by quadratic polynomials. Semi-algebraic sets of $R^k$ are defined as the smallest family of sets in $R^k$ that contains the algebraic sets as well as the…
Let $G$ be an $n$-vertex graph with $m$ edges. When asked a subset $S$ of vertices, a cut query on $G$ returns the number of edges of $G$ that have exactly one endpoint in $S$. We show that there is a bounded-error quantum algorithm that…
We consider the classical Minimum Balanced Cut problem: given a graph $G$, compute a partition of its vertices into two subsets of roughly equal volume, while minimizing the number of edges connecting the subsets. We present the first {\em…
Let $\mathbb{R}$ be the field of real numbers. We consider the problem of computing the real isolated points of a real algebraic set in $\mathbb{R}^n$ given as the vanishing set of a polynomial system. This problem plays an important role…
We describe a polynomial-time algorithm to compute a (tight) geodesic between two curves in the curve graph. As well as enabling us to compute the distance between a pair of curves, this has several applications to mapping classes. For…
Given in the plane a set $S$ of $n$ points and a set of disks centered at these points, the disk graph $G(S)$ induced by these disks has vertex set $S$ and an edge between two vertices if their disks intersect. Note that the disks may have…
Segment Routing is a recent network technology that helps optimizing network throughput by providing finer control over the routing paths. Instead of routing directly from a source to a target, packets are routed via intermediate waypoints.…
Polynomial partitioning techniques have recently led to improved geometric data structures for a variety of fundamental problems related to semialgebraic range searching and intersection searching in 3D and higher dimensions (e.g., see…