Related papers: Improved Dynamic Geodesic Nearest Neighbor Searchi…
Given a set of point sites in a simple polygon, the geodesic farthest-point Voronoi diagram partitions the polygon into cells, at most one cell per site, such that every point in a cell has the same farthest site with respect to the…
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 a set $S$ of $n$ points in the plane, we consider the problem of answering range selection queries on $S$: that is, given an arbitrary $x$-range $Q$ and an integer $k > 0$, return the $k$-th smallest $y$-coordinate from the set of…
We present the `Basic S*' algorithm for computing shortest path through a metric simplicial complex. In particular, given a metric graph, $G$, which is constructed as a discrete representation of an underlying configuration space (a larger…
Persistence diagrams are important tools in the field of topological data analysis that describe the presence and magnitude of features in a filtered topological space. However, current approaches for comparing a persistence diagram to a…
Given a polygonal workspace $W$, a depth sensor placed at point $p=(x,y)$ inside $W$ and oriented in direction $\theta$ measures the distance $d=h(x,y,\theta)$ between $p$ and the closest point on the boundary of $W$ along a ray emanating…
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…
We devise an algorithm for maintaining the visibility polygon of any query point in a dynamic polygonal domain, i.e., as the polygonal domain is modified with vertex insertions and deletions to its obstacles, we update the data structures…
Let $\mathcal{S}$ be a connected planar polygonal subdivision with $n$ edges that we want to preprocess for point-location queries, and where we are given the probability $\gamma_i$ that the query point lies in a polygon $P_i$ of…
Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…
We demonstrate that a graph-based search algorithm-relying on the construction of an approximate neighborhood graph-can directly work with challenging non-metric and/or non-symmetric distances without resorting to metric-space mapping…
We study the query version of constrained minimum link paths between two points inside a simple polygon $P$ with $n$ vertices such that there is at least one point on the path, visible from a query point. The method is based on partitioning…
In this paper we present a novel non-parametric method of simplifying piecewise linear curves and we apply this method as a statistical approximation of structure within sequential data in the plane. We consider the problem of minimizing…
By "geodesic" we mean any sequence of vertices $(v_1,v_2,...,v_k)$ of a graph $G$ that constitute a shortest path from $v_1$ to $v_k$. We propose a novel, natural algorithm to enumerate all geodesics of $G$, and pit it (using Mathematica)…
A common problem appearing across the field of data science is $k$-NN ($k$-nearest neighbours), particularly within the context of Geographic Information Systems. In this article, we present a novel data structure, the GeoTree, which holds…
We propose an extension of tree-based space-partitioning indexing structures for data with low intrinsic dimensionality embedded in a high dimensional space. We call this extension an Angle Tree. Our extension can be applied to both…
Establishing the correspondences between newly acquired points and historically accumulated data (i.e., map) through nearest neighbors search is crucial in numerous robotic applications. However, static tree data structures are inadequate…
Proximity graph-based methods have emerged as a leading paradigm for approximate nearest neighbor (ANN) search in the system community. This paper presents fresh insights into the theoretical foundation of these methods. We describe an…
Graph-based nearest neighbor search methods have seen a surge of popularity in recent years, offering state-of-the-art performance across a wide variety of applications. Central to these methods is the task of constructing a sparse…
Large graphs are difficult to represent, visualize, and understand. In this paper, we introduce "gate graph" - a new approach to perform graph simplification. A gate graph provides a simplified topological view of the original graph.…