Related papers: Does a robot path have clearance c?
We consider the problem of Robust PCA in the fully and partially observed settings. Without corruptions, this is the well-known matrix completion problem. From a statistical standpoint this problem has been recently well-studied, and…
We study the problem of determining optimal coordinated motions for two disc robots in an otherwise obstacle-free plane. Using the total path length traced by the two disc centres as a measure of distance, we give an exact characterization…
The software system under test can be modeled as a graph comprising of a set of vertices, (V) and a set of edges, (E). Test Cases are Test Paths over the graph meeting a particular test criterion. In this paper, we present a method to…
The purpose of this note is to give a simple proof for a necessary and sufficient condition for visibility paths in simple polygons. A visibility path is a curve such that every point inside a simple polygon is visible from at least one…
We introduce the concept of an obstacle skeleton which is a set of line segments inside a polygonal obstacle $\omega$ that can be used in place of $\omega$ when performing intersection tests for obstacle-avoiding network problems in the…
The (unweighted) point-separation problem asks, given a pair of points $s$ and $t$ in the plane, and a set of candidate geometric objects, for the minimum-size subset of objects whose union blocks all paths from $s$ to $t$. Recent work has…
In the k-Disjoint Shortest Paths problem, a set of terminal pairs of vertices $\{(s_i,t_i)\mid 1\le i\le k\}$ is given and we are asked to find paths $P_1,\ldots,P_k$ such that each path $P_i$ is a shortest path from $s_i$ to $t_i$ and…
Given an undirected, weighted graph, with $n$ vertices and $m$ edges, and two special vertices $s$ and $t$, the problem is to find the shortest path between them. We give two bounded-error quantum algorithms with improved runtime in the…
We revisit a standard polygon containment problem: given a convex $k$-gon $P$ and a convex $n$-gon $Q$ in the plane, find a placement of $P$ inside $Q$ under translation and rotation (if it exists), or more generally, find the largest copy…
Various applications of graphs, in particular applications related to finding shortest paths, naturally get inputs with real weights on the edges. However, for algorithmic or visualization reasons, inputs with integer weights would often be…
The dynamic shortest paths problem on planar graphs asks us to preprocess a planar graph $G$ such that we may support insertions and deletions of edges in $G$ as well as distance queries between any two nodes $u,v$ subject to the constraint…
Let $G$ be a unit disk graph in the plane defined by $n$ disks whose positions are known. For the case when $G$ is unweighted, we give a simple algorithm to compute a shortest path tree from a given source in $O(n\log n)$ time. For the case…
We investigate the problem of computing a minimum set of solutions that approximates within a specified accuracy $\epsilon$ the Pareto curve of a multiobjective optimization problem. We show that for a broad class of bi-objective problems…
In a series of papers, Avraham, Filtser, Kaplan, Katz, and Sharir (SoCG'14), Kaplan, Katz, Saban, and Sharir (ESA'23), and Katz, Saban, and Sharir (ESA'24) studied a class of geometric optimization problems -- including reverse shortest…
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find…
This paper is concerned with the minimum-time path-planning problem for a Dubins airplane under the influence of steady wind. The path-planning problem, by transforming into the air-relative frame, is equivalent to finding the minimum-time…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
Given a simple polygon $P$ with $n$ vertices, we consider the problem of constructing a data structure for visibility queries: for any query point $q \in P$, compute the visibility polygon of $q$ in $P$. To obtain $O(\log n + k)$ query…
Let $S$ be a set of $n$ points in a polygon $P$ with $m$ vertices. The geodesic unit-disk graph $G(S)$ induced by $S$ has vertex set $S$ and contains an edge between two vertices whenever their geodesic distance in $P$ is at most one. In…
In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is…