Related papers: Convex Obstacles from Travelling Times
We consider the problem of navigation with safety constraints. The safety constraints are probabilistic, where a given set is assigned a degree of safety, a number between zero and one, with zero being safe and one being unsafe. The…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
This paper studies binary quadratic programs in which the objective is defined by a Euclidean distance matrix, subject to a general polyhedral constraint set. This class of nonconcave maximisation problems includes the capacitated,…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a technique to distinguish dynamic obstacles from static ones with…
We present a novel complex number formulation along with tight convex relaxations for the aircraft conflict resolution problem. Our approach combines both speed and heading control and provides global optimality guarantees despite…
In this paper, we propose a distributed algorithm to solve planar minimum time multi-vehicle rendezvous problem with non-identical velocity constraints on cyclic digraph (topology). Motivated by the cyclic alternating projection method that…
The (unweighted) point-separation problem asks, given a pair of points $s$ and $t$ in the plane, and a set of candidate geometric objects, for the minimum-size subset of objects whose union blocks all paths from $s$ to $t$. Recent work has…
Counting Euclidean triangulations with vertices in a finite set $\C$ of the convex hull $\conv(\C)$ of $\C$ is difficult in general, both algorithmically and theoretically. The aim of this paper is to describe nearly convex polygons, a…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
We show that, for planar point sets, the number of non-crossing Hamiltonian paths is polynomially bounded in the number of non-crossing paths, and the number of non-crossing Hamiltonian cycles (polygonalizations) is polynomially bounded in…
Motivated by a question of R.\ Nandakumar, we show that the Euclidean plane can be dissected into mutually incongruent convex pentagons of the same area and the same perimeter.
Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory.…
We derive constraints on the existence of walls for Bridgeland stability conditions for general projective surfaces. We show that in suitable planes of stability conditions the walls are bounded and derive conditions for when the number of…
We study the enumeration of answers to Unions of Conjunctive Queries (UCQs) with optimal time guarantees. More precisely, we wish to identify the queries that can be solved with linear preprocessing time and constant delay. Despite the…
Point location problems for $n$ points in $d$-dimensional Euclidean space (and $\ell_p$ spaces more generally) have typically had two kinds of running-time solutions: * (Nearly-Linear) less than $d^{poly(d)} \cdot n \log^{O(d)} n$ time, or…
Directional motion towards a specified destination is a common occurrence in physical processes and human societal activities. Utilizing this prior information can significantly improve the control and predictive performance of system…
An algorithm is demonstrated that finds an ordinary intersection in an arrangement of $n$ lines in $\mathbb{R}^2$, not all parallel and not all passing through a common point, in time $O(n \log{n})$. The algorithm is then extended to find…
A shape of a combinatorial polytope is a convex embedding into Euclidean space. We provide necessary and sufficient conditions for a piecewise linear map between two shapes of the same polytope to be a compression (respectively a weak…
Delaunay triangulations of a point set in the Euclidean plane are ubiquitous in a number of computational sciences, including computational geometry. Delaunay triangulations are not well defined as soon as 4 or more points are concyclic but…
We consider the convex bilevel optimization problem, also known as simple bilevel programming. There are two challenges in solving convex bilevel optimization problems. Firstly, strong duality is not guaranteed due to the lack of Slater…