Related papers: Computing skeletons for rectilinearly-convex obsta…
We present an algorithm for planning trajectories that avoid obstacles and satisfy key-door precedence specifications expressed with a fragment of signal temporal logic. Our method includes a novel exact convex partitioning of the obstacle…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
The minimum distance of a code is an important concept in information theory. Hence, computing the minimum distance of a code with a minimum computational cost is a crucial process to many problems in this area. In this paper, we present…
A new computationally simple method of imposing hard convex constraints on the neural network output values is proposed. The key idea behind the method is to map a vector of hidden parameters of the network to a point that is guaranteed to…
A new method to solve computationally challenging (random) parametric obstacle problems is developed and analyzed, where the parameters can influence the related partial differential equation (PDE) and determine the position and surface…
This paper focuses on the challenging task of learning 3D object surface reconstructions from RGB images. Existingmethods achieve varying degrees of success by using different surface representations. However, they all have their own…
Collision detection is a critical functionality for robotics. The degree to which objects collide cannot be represented as a continuously differentiable function for any shapes other than spheres. This paper proposes a framework for…
This paper introduces a novel NMPC formulation for real-time obstacle avoidance on heavy equipment by modeling both vehicle and obstacles as convex superellipsoids. The combination of this approach with the separating hyperplane theorem and…
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 $c$,…
This paper describes an efficient approach to constructing a resultant polyline with a minimum number of segments and arcs. While fitting an arc can be done with complexity O(1) (see [1] and [2]), the main complexity is in checking that the…
We describe algorithms to efficiently compute minimum $(s,t)$-cuts and global minimum cuts of undirected surface-embedded graphs. Given an edge-weighted undirected graph $G$ with $n$ vertices embedded on an orientable surface of genus $g$,…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
We consider geodesically convex optimization problems involving distances to a finite set of points $A$ in a CAT(0) cubical complex. Examples include the minimum enclosing ball problem, the weighted mean and median problems, and the…
The problem of finding "small" sets that meet every straight-line which intersects a given convex region was initiated by Mazurkiewicz in 1916. We call such a set an {\em opaque set} or a {\em barrier} for that region. We consider the…
By supporting the access of multiple memory words at the same time, Bit-line Computing (BC) architectures allow the parallel execution of bit-wise operations in-memory. At the array periphery, arithmetic operations are then derived with…
An algorithm which computes a solution of a set optimization problem is provided. The graph of the objective map is assumed to be given by finitely many linear inequalities. A solution is understood to be a set of points in the domain…
General object detectors use powerful backbones that uniformly extract features from images for enabling detection of a vast amount of object types. However, utilization of such backbones in object detection applications developed for…
Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-designed maneuvers. With the growing density of satellites…
The vertex connectivity of a graph $G$ is the size of the smallest set of vertices $S$ such that $G \setminus S$ is disconnected. For the class of planar graphs, the problem of vertex connectivity is well-studied, both from structural and…
We present the winning implementation of the Seventh Computational Geometry Challenge (CG:SHOP 2025). The task in this challenge was to find non-obtuse triangulations for given planar regions, respecting a given set of constraints…