Related papers: Convex Obstacles from Travelling Times
A set of n segments in the plane may form a Euclidean TSP tour, a tree, or a matching, among others. Optimal TSP tours as well as minimum spanning trees and perfect matchings have no crossing segments, but several heuristics and…
This text presents the proofs of the technical facts underlying theoretical justification of the convergence and performance of the novel algorithm for reactive navigation of differential drive wheeled robots in dynamic uncertain…
This purpose of this paper is to prove the following result: let phi be a strictly convex, smooth, convex body in the Euclidean plane, if the intersection of n translates of phi has a non-empty interior, and all of the translates contribute…
Given a set of well-formed terminal pairs on the external face of an undirected planar graph with unit edge weights, we give a linear-time algorithm for computing the union of non-crossing shortest paths joining each terminal pair, where…
Given a convex potential in a space with convex obstacles, an artificial potential is used to navigate to the minimum of the natural potential while avoiding collisions. The artificial potential combines the natural potential with…
In this paper, we propose two algorithms for solving convex optimization problems with linear ascending constraints. When the objective function is separable, we propose a dual method which terminates in a finite number of iterations. In…
The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular…
We study how the supporting hyperplanes produced by the projection process can complement the method of alternating projections and its variants for the convex set intersection problem. For the problem of finding the closest point in the…
Finding two disjoint simple paths on two given sets of points is a geometric problem introduced by Jeff Erickson. This problem has various applications in computational geometry, like robot motion planning, generating polygon etc. We will…
The paper is concerned with elongating the shortest curvature-bounded path between two oriented points to an expected length. The elongation of curvature-bounded paths to an expected length is fundamentally important to plan missions for…
We study geodesically convex (g-convex) problems that can be written as a difference of Euclidean convex functions. This structure arises in several optimization problems in statistics and machine learning, e.g., for matrix scaling,…
We show that many well-known transforms in convex geometry (in particular, centroid body, convex floating body, and Ulam floating body) are special instances of a general construction, relying on applying sublinear expectations to random…
In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geometry. To address this problem, we provide a risk bounded…
We investigate how much information about a convex body can be retrieved from a finite number of its geometric moments. We give a sufficient condition for a convex body to be uniquely determined by a finite number of its geometric moments,…
We study the incompressible Euler equation and prove that the set of weak solutions is path-connected. More precisely, we construct paths of H\"older regularity $C^{1/2}$, valued in $C^0_{t, loc} L^2_x$ endowed with the strong topology. The…
Recurrent Neural Network, Long Short-Term Memory, and Transformer have made great progress in predicting the trajectories of moving objects. Although the trajectory element with the surrounding scene features has been merged to improve…
In this paper, a novel technique for tight outer-approximation of the intersection region of a finite number of ellipses in 2-dimensional (2D) space is proposed. First, the vertices of a tight polygon that contains the convex intersection…
In the present paper, we derive several conditions of linear combinations and convolutions of harmonic mappings to be univalent and convex in one direction, one of them gives a partial answer to an open problem proposed by Dorff. The…
For a Euclidean building $X$ of type $A_{2}$, we classify the 0-dimensional subbuildings $A$ of $\partial_{T}X$ that occur as the asymptotic boundary of closed convex subsets. In particular, we show that triviality of the holonomy of a…
In this work, we solve the problem of finding non-intersecting paths between points on a plane with a new approach by borrowing ideas from geometric topology, in particular, from the study of polygonal schema in mathematics. We use a…