Related papers: Convex Obstacles from Travelling Times
Suppose we are given a pair of points $s, t$ and a set $S$ of $n$ geometric objects in the plane, called obstacles. We show that in polynomial time one can construct an auxiliary (multi-)graph $G$ with vertex set $S$ and every edge labeled…
Reay's relaxed Tverberg conjecture and Conway's thrackle conjecture are open problems about the geometry of pairwise intersections. Reay asked for the minimum number of points in Euclidean d-space that guarantees any such point set admits a…
Collision avoidance in the presence of dynamic obstacles in unknown environments is one of the most critical challenges for unmanned systems. In this paper, we present a method that identifies obstacles in terms of ellipsoids to estimate…
The time ordering of two spacelike separated events is arbitrary, when all inertial frames are taken into account, but for three or more events it is not generally so. We determine the structure of possible time orderings, or chronologies,…
Motion planning is one of the key modules in autonomous driving systems to generate trajectories for self-driving vehicles to follow. A common motion planning approach is to generate trajectories within semantic safe corridors. The…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…
Let $\mathcal{P}$ be a set of points in the plane, and $\mathcal{S}$ a strictly convex set of points. In this note, we show that if $\mathcal{P}$ contains many translates of $\mathcal{S}$, then these translates must come from a generalized…
In this paper we look for the convex hull of a set using the geometric evolution by minimal curvature of a hypersurface that surrounds the set. To find the convex hull, we study the large time behavior of solutions to an obstacle problem…
In the Traveling Salesperson Problem with Neighborhoods (TSPN), we are given a collection of geometric regions in some space. The goal is to output a tour of minimum length that visits at least one point in each region. Even in the…
The aim of this manuscript is to approach by means of first order differential equations/inclusions convex programming problems with two-block separable linear constraints and objectives, whereby (at least) one of the components of the…
This paper presents a collision avoidance method for elliptical agents traveling in a two-dimensional space. We first formulate a separation condition for two elliptical agents utilizing a signed distance from a supporting line of an agent…
Accurately following a geometric desired path in a two-dimensional space is a fundamental task for many engineering systems, in particular mobile robots. When the desired path is occluded by obstacles, it is necessary and crucial to…
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…
We study the sets of planes in an even dimensional real vector space $V$ which are simultaneously stabilised by a pair of complex structures on $V$. We completely describe these sets of planes for pairs of orthogonal complex structures.…
We present a sufficient condition for recovering unique texture and viewpoints from unknown orthographic projections of a flat texture process. We show that four observations are sufficient in general, and we characterize the ambiguous…
It has been known for some time that a 3D incompressible Euler flow that has initially a barely smooth velocity field nonetheless has Lagrangian fluid particle trajectories that are analytic in time for at least a finite time (Ph. Serfati…
Given a set of $n$ points in the Euclidean plane, such that just $k$ points are strictly inside the convex hull of the whole set, we want to find the shortest tour visiting every point. The fastest known algorithm for the version when $k$…
We prove completeness of preferential conditional logic with respect to convexity over finite sets of points in the Euclidean plane. A conditional is defined to be true in a finite set of points if all extreme points of the set interpreting…
Optimal maps, solutions to the optimal transportation problems, are completely determined by the corresponding c-convex potential functions. In this paper, we give simple sufficient conditions for a smooth function to be c-convex when the…