Related papers: Convex Obstacles from Travelling Times
We study the computational complexity of routing multiple objects through a network in such a way that only few collisions occur: Given a graph $G$ with two distinct terminal vertices and two positive integers $p$ and $k$, the question is…
The minimum constraint removal problem seeks to find the minimum number of constraints, i.e., obstacles, that need to be removed to connect a start to a goal location with a collision-free path. This problem is NP-hard and has been studied…
This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's…
We consider the inverse problem for time-dependent semilinear transport equations. We show that time-independent coefficients of both the linear (absorption or scattering coefficients) and nonlinear terms can be uniquely determined, in a…
This paper studies the informativity problem for reachability and null-controllability of constrained systems. To be precise, we will focus on an unknown linear systems with convex conic constraints from which we measure data consisting of…
Computing a (short) path between two vertices is one of the most fundamental primitives in graph algorithmics. In recent years, the study of paths in temporal graphs, that is, graphs where the vertex set is fixed but the edge set changes…
We present an algorithm to find an {\it Euclidean Shortest Path} from a source vertex $s$ to a sink vertex $t$ in the presence of obstacles in $\Re^2$. Our algorithm takes $O(T+m(\lg{m})(\lg{n}))$ time and $O(n)$ space. Here, $O(T)$ is the…
We consider an obstacle problem for elastic curves with fixed ends. We attempt to extend the graph approach provided in [8]. More precisely, we investigate nonexistence of graph solutions for special obstacles and extend the class of…
Intersection algorithms are very important in computation of geometrical problems. Algorithms for a line intersection with linear or quadratic surfaces are quite efficient. However, algorithms for a line intersection with other surfaces are…
This paper presents an approach for reconstruction of 4D temporally coherent models of complex dynamic scenes. No prior knowledge is required of scene structure or camera calibration allowing reconstruction from multiple moving cameras.…
Separable convex optimization problems with linear ascending inequality and equality constraints are addressed in this paper. Under an ordering condition on the slopes of the functions at the origin, an algorithm that determines the optimum…
The paper considers the minimization of a separable convex function subject to linear ascending constraints. The problem arises as the core optimization in several resource allocation scenarios, and is a special case of an optimization of a…
We provide a remarkably simple algorithm to compute all (at most four) common tangents of two disjoint simple polygons. Given each polygon as a read-only array of its corners in cyclic order, the algorithm runs in linear time and constant…
We study the version of the $k$-disjoint paths problem where $k$ demand pairs $(s_1,t_1)$, $\dots$, $(s_k,t_k)$ are specified in the input and the paths in the solution are allowed to intersect, but such that no vertex is on more than $c$…
The existence of the limiting pair correlation for angles between reciprocal geodesics on the modular surface is established. An explicit formula is provided, which captures geometric information about the length of reciprocal geodesics, as…
We present a nonlinear non-convex model predictive control approach to solving a real-world labyrinth game. We introduce adaptive nonlinear constraints, representing the non-convex obstacles within the labyrinth. Our method splits the…
The paper focuses on two problems: (i) how to orient the edges of an undirected graph in order to maximize the number of ordered vertex pairs (x,y) such that there is a directed path from x to y, and (ii) how to orient the edges so as to…
Reconstructing a composition (union) of convex polytopes that perfectly fits the corresponding input point-cloud is a hard optimization problem with interesting applications in reverse engineering and rigid body dynamics simulations. We…
This work proposes an algorithm to bound the minimum distance between points on trajectories of a dynamical system and points on an unsafe set. Prior work on certifying safety of trajectories includes barrier and density methods, which do…
We consider the time-convex hull problem in the presence of two orthogonal highways H. In this problem, the travelling speed on the highway is faster than off the highway, and the time-convex hull of a point set P is the closure of P with…