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Given a point $s$ and a set of $h$ pairwise disjoint polygonal obstacles of totally $n$ vertices in the plane, we present a new algorithm for building an $L_1$ shortest path map of size O(n) in $O(T)$ time and O(n) space such that for any…
Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. Previously,…
Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. The previous best…
We devise a polynomial-time approximation scheme for the classical geometric problem of finding an approximate short path amid weighted regions. In this problem, a triangulated region P comprising of n vertices, a positive weight associated…
Let $\mathcal{P}$ be a set of $h$ pairwise-disjoint polygonal obstacles with a total of $n$ vertices in the plane. We consider the problem of building a data structure that can quickly compute an $L_1$ shortest obstacle-avoiding path…
A fundamental problem in computational geometry is to compute an obstacle-avoiding Euclidean shortest path between two points in the plane. The case of this problem on polygonal obstacles is well studied. In this paper, we consider the…
Let $\mathcal{P}$ be the surface of a convex polyhedron with $n$ vertices. We consider the two-point shortest path query problem for $\mathcal{P}$: Constructing a data structure so that given any two query points $s$ and $t$ on…
Most path planning problems among polygonal obstacles ask to find a path that avoids the obstacles and is optimal with respect to some measure or a combination of measures, for example an $u$-to-$v$ shortest path of clearance at least $c$,…
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…
Given a set $\mathcal{P}$ of $h$ pairwise disjoint simple polygonal obstacles in $\mathbb{R}^2$ defined with $n$ vertices, we compute a sketch $\Omega$ of $\mathcal{P}$ whose size is independent of $n$, depending only on $h$ and the input…
Given a simple polygon $P$ consisting of $n$ vertices, we study the problem of designing space-efficient algorithms for computing (i) the visibility polygon of a point inside $P$, (ii) the weak visibility polygon of a line segment inside…
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…
In this article, we present an approximation algorithm for solving the Weighted Region Problem amidst a set of $ n $ non-overlapping weighted disks in the plane. For a given parameter $ \varepsilon \in (0,1]$, the length of the approximate…
We devise a data structure that can answer shortest path queries for two query points in a polygonal domain $P$ on $n$ vertices. For any $\varepsilon > 0$, the space complexity of the data structure is $O(n^{10+\varepsilon })$ and queries…
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…
In graph theory, the longest path problem is the problem of finding a simple path of maximum length in a given graph. For some small classes of graphs, the problem can be solved in polynomial time [2, 4], but it remains NP-hard on general…
Given a graph, the general problem to cover the maximum number of vertices by a collection of vertex-disjoint long paths seemingly escapes from the literature. A path containing at least $k$ vertices is considered long. When $k \le 3$, the…
Let $P$ be a simple polygon of $n$ vertices. We consider two-point $L_1$ shortest path queries in $P$. We build a data structure of $O(n)$ size in $O(n)$ time such that given any two query points $s$ and $t$, the length of an $L_1$ shortest…
This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…
An influential result by Dor, Halperin, and Zwick (FOCS 1996, SICOMP 2000) implies an algorithm that can compute approximate shortest paths for all vertex pairs in $\tilde{O}(n^{2+O\left(\frac{1}{k}\right )})$ time, ensuring that the output…