Related papers: Barrier Forming: Separating Polygonal Sets with Mi…
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…
Many discrete optimization problems amount to selecting a feasible set of edges of least weight. We consider in this paper the context of spatial graphs where the positions of the vertices are uncertain and belong to known uncertainty sets.…
Given two disjoint sets $W_1$ and $W_2$ of points in the plane, the Optimal Discretization problem asks for the minimum size of a family of horizontal and vertical lines that separate $W_1$ from $W_2$, that is, in every region into which…
We study the problem of partitioning a given simple polygon $P$ into a minimum number of connected polygonal pieces, each of bounded size. We describe a general technique for constructing such partitions that works for several notions of…
We completely classify all minimal problems for Structure-from-Motion (SfM) where arrangements of points and lines are fully observed by multiple uncalibrated pinhole cameras. We find 291 minimal problems, 73 of which have unique solutions…
We address the following problem: Given a simple polygon $P$ with $n$ vertices and two points $s$ and $t$ inside it, find a minimum link path between them such that a given target point $q$ is visible from at least one point on the path.…
We study a variational problem for the perimeter associated with the Grushin plane, called minimal partition problem with trace constraint. This consists in studying how to enclose three prescribed areas in the Grushin plane, using the…
In this paper, we propose new techniques for solving geometric optimization problems involving interpoint distances of a point set in the plane. Given a set $P$ of $n$ points in the plane and an integer $1 \leq k \leq \binom{n}{2}$, the…
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…
Let $S$ be a finite set of geometric objects partitioned into classes or \emph{colors}. A subset $S'\subseteq S$ is said to be \emph{balanced} if $S'$ contains the same amount of elements of $S$ from each of the colors. We study several…
This paper studies problems related to visibility among points in the plane. A point $x$ \emph{blocks} two points $v$ and $w$ if $x$ is in the interior of the line segment $\bar{vw}$. A set of points $P$ is \emph{$k$-blocked} if each point…
We investigate the Dispersive Art Gallery Problem with vertex guards and rectangular visibility ($r$-visibility) for a class of orthogonal polygons that reflect the properties of real-world floor plans: these office-like polygons consist of…
In this paper we study the following problem: Given $k$ disjoint sets of points, $P_1, \ldots, P_k$ on the plane, find a minimum cardinality set $\mathcal{T}$ of arbitrary rectangles such that each rectangle contains points of just one set…
A common representation of a three dimensional object in computer applications, such as graphics and design, is in the form of a triangular mesh. In many instances, individual or groups of triangles in such representation need to satisfy…
A closed convex subset of a normed linear space is said to have the strong separation property if it can be strongly separated from every other disjoint closed and convex set by a closed hyperplane. In this paper we give some results on the…
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
We study the problem of colouring the vertices of a polygon, such that every viewer in it can see a unique colour. The goal is to minimise the number of colours used. This is also known as the conflict-free chromatic guarding problem with…
This research focuses on trajectory planning problems for autonomous vehicles utilizing numerical optimal control techniques. The study reformulates the constrained optimization problem into a nonlinear programming problem, incorporating…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…