Related papers: A Search Algorithm for Simplicial Complexes
We introduce a new `geometric realization' of an (abstract) simplicial complex, inspired by probability theory. This space (and its completion) is a metric space, which has the right (weak) homotopy type, and which can be compared with the…
We show how to combine two techniques for efficiently computing shortest paths in directed planar graphs. The first is the linear-time shortest-path algorithm of Henzinger, Klein, Subramanian, and Rao [STOC'94]. The second is Fakcharoenphol…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
An obstacle representation of a graph is a mapping of the vertices onto points in the plane and a set of connected regions of the plane (called obstacles) such that the straight-line segment connecting the points corresponding to two…
Searching for a path between two nodes in a graph is one of the most well-studied and fundamental problems in computer science. In numerous domains such as robotics, AI, or biology, practitioners develop search heuristics to accelerate…
Many computations in robotics can be dramatically accelerated if the robot configuration space is described as a collection of simple sets. For example, recently developed motion planners rely on a convex decomposition of the free space to…
Simplicial complexes are higher-order combinatorial structures which have been used to represent real-world complex systems. In this paper, we concentrate on the local patterns in simplicial complexes called simplets, a generalization of…
We present a new algorithm, which solves the problem of distributively finding a minimum diameter spanning tree of any (non-negatively) real-weighted graph $G = (V,E,\omega)$. As an intermediate step, we use a new, fast, linear-time…
Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…
A hypergraph can be obtained from a simplicial complex by deleting some non-maximal simplices. By [11], a hypergraph gives an associated simplicial complex. By [4], the embedded homology of a hypergraph is the homology of the infimum chain…
We present a multi-scale forward search algorithm for distributed agents to solve single-query shortest path planning problems. Each agent first builds a representation of its own search space of the common environment as a multi-resolution…
Let $H$ be a fixed graph and let $G$ be an $H$-minor free $n$-vertex graph with integer edge weights and no negative weight cycles reachable from a given vertex $s$. We present an algorithm that computes a shortest path tree in $G$ rooted…
Given a directed graph $G$ with arbitrary real-valued weights, the single source shortest-path problem (SSSP) asks for, given a source $s$ in $G$, finding a shortest path from $s$ to each vertex $v$ in $G$. A classical SSSP algorithm…
We consider the standard message passing model; we assume the system is fully synchronous: all processes start at the same time and time proceeds in synchronised rounds. In each round each vertex can transmit a different message of size…
Let $G=(V,E)$ be a simple, connected graph. One is often interested in a short path between two vertices $u,v$. We propose a spectral algorithm: construct the function $\phi:V \rightarrow \mathbb{R}_{\geq 0}$ $$ \phi = \arg\min_{f:V…
A set $S$ of isometric paths of a graph $G$ is ``$v$-rooted'', where $v$ is a vertex of $G$, if $v$ is one of the endpoints of all the isometric paths in $S$. The isometric path complexity of a graph $G$, denoted by $ipco{G}$, is the…
In the dynamic Single-Source Shortest Paths (SSSP) problem, we are given a graph $G=(V,E)$ subject to edge insertions and deletions and a source vertex $s\in V$, and the goal is to maintain the distance $d(s,t)$ for all $t\in V$.…
We develop a new approach for distributed distance computation in planar graphs that is based on a variant of the metric compression problem recently introduced by Abboud et al. [SODA'18]. One of our key technical contributions is in…
We revisit the problem of finding shortest unique substring (SUS) proposed recently by [6]. We propose an optimal $O(n)$ time and space algorithm that can find an SUS for every location of a string of size $n$. Our algorithm significantly…
We present an algorithm to find an {\it Euclidean Shortest Path} from a source vertex $s$ to a sink vertex $t$ in the presence of obstacles in $\Re^2$. Our algorithm takes $O(T+m(\lg{m})(\lg{n}))$ time and $O(n)$ space. Here, $O(T)$ is the…