Related papers: Computing skeletons for rectilinearly-convex obsta…
In this note, we propose a framework for proving computational lower bounds in norm approximation by leveraging a reverse detection--estimation gap. The starting point is a testing problem together with an estimator whose error is…
Compacting orthogonal drawings is a challenging task. Usually algorithms try to compute drawings with small area or edge length while preserving the underlying orthogonal shape. We present a one-dimensional compaction algorithm that alters…
Computing planar orthogonal drawings with the minimum number of bends is one of the most relevant topics in Graph Drawing. The problem is known to be NP-hard, even when we want to test the existence of a rectilinear planar drawing, i.e., an…
Let $E=\{e_1,\ldots,e_n\}$ be a set of $C$-oriented disjoint segments in the plane, where $C$ is a given finite set of orientations that spans the plane, and let $s$ and $t$ be two points. %(We also require that for each orientation in $C$,…
In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new…
We develop a sketching algorithm to find the point on the convex hull of a dataset, closest to a query point outside it. Studying the convex hull of datasets can provide useful information about their geometric structure and their…
We study the problem of finding neck-like features on a surface. Applications for such cuts include robotics, mesh segmentation, and algorithmic applications. We provide a new definition for a surface bottleneck -- informally, it is the…
We improve upon the running time for finding a point in a convex set given a separation oracle. In particular, given a separation oracle for a convex set $K\subset \mathbb{R}^n$ contained in a box of radius $R$, we show how to either find a…
A conforming partition of a rectilinear n-gon P (possibly with holes) is a partition of P into rectangles without using Steiner points (i.e., all corners of all rectangles must lie on the boundary of P). The stabbing number of such a…
We consider the Minimum Convex Partition problem: Given a set P of n points in the plane, draw a plane graph G on P, with positive minimum degree, such that G partitions the convex hull of P into a minimum number of convex faces. We show…
We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental problem in robotics and well studied in control. However,…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
We present algorithms for the online minimum hitting set problem in geometric range spaces: given a set $P$ of $n$ points in the plane and a sequence of geometric objects that arrive one-by-one, we need to maintain a hitting set at all…
Vector-based algorithms are novel algorithms in optimal any-angle path planning that are motivated by bug algorithms, bypassing free space by directly conducting line-of-sight checks between two queried points, and searching along obstacle…
In applications throughout science and engineering one is often faced with the challenge of solving an ill-posed inverse problem, where the number of available measurements is smaller than the dimension of the model to be estimated. However…
Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…
We prove and apply an optimal low-rank approximation of the Cauchy kernel over separated real domains. A skeleton decomposition is the minimum over real-valued functions of the maximum relative pointwise error. We present an algorithm to…
We propose new estimates for the frontier of a set of points. They are defined as kernel estimates covering all the points and whose associated support is of smallest surface. The estimates are written as linear combinatio- ns of kernel…
We provide a linear time algorithm to determine the flip distance between two plane spanning paths on a point set in convex position. At the same time, we show that the happy edge property does not hold in this setting. This has to be seen…
We introduce a computational origami problem which we call the segment folding problem: given a set of $n$ line-segments in the plane the aim is to make creases along all segments in the minimum number of folding steps. Note that a folding…