Related papers: Optimal Geodesic Curvature Constrained Dubins' Pat…
The combinatorial diameter of a polytope $P$ is the maximum value of a shortest path between two vertices of $P$, where the path uses the edges of $P$ only. In contrast to the combinatorial diameter, the circuit diameter of $P$ is defined…
We consider the set E of curves with positive algebraic curvature, whose extremities and tangents in their extremities are given. For each of the curves of E, we define the minimum of the radius of curvature. We first prove that there…
The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path…
Near a singular point of a surface or a curve, geometric invariants diverge in general, and the orders of diverge, in particular the boundedness about these invariants represent geometry of the surface and the curve. In this paper, we study…
Let $Q_n$ denote the graph of the $n$-dimensional cube with vertex set $\{0,1\}^n$ in which two vertices are adjacent if they differ in exactly one coordinate. Suppose $G$ is a subgraph of $Q_n$ with average degree at least $d$. How long a…
Given a set $P$ of $n$ points in the plane, the unit-disk graph $G(P)$ is a graph with $P$ as its vertex set such that two points of $P$ have an edge if their Euclidean distance is at most $1$. We consider the problem of computing a maximum…
We introduce a Markov chain for sampling from the uniform distribution on a Riemannian manifold $\mathcal{M}$, which we call the $\textit{geodesic walk}$. We prove that the mixing time of this walk on any manifold with positive sectional…
Dumas, Foucaud, Perez, and Todinca [SIAM J. Disc. Math., 2024] proved that if the vertex set of a graph $G$ can be covered by $k$ shortest paths, then the pathwidth of $G$ is bounded by $\mathcal{O}(k \cdot 3^k)$. We prove a coarse variant…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…
Let G be a digraph (without parallel edges) such that every directed cycle has length at least four; let $\beta(G)$ denote the size of the smallest subset X in E(G) such that $G\X$ has no directed cycles, and let $\gamma(G)$ be the number…
Let $G$ be a unit disk graph in the plane defined by $n$ disks whose positions are known. For the case when $G$ is unweighted, we give a simple algorithm to compute a shortest path tree from a given source in $O(n\log n)$ time. For the case…
Planning for Autonomous Unmanned Ground Vehicles (AUGV) is still a challenge, especially in difficult, off-road, critical situations. Automatic planning can be used to reach mission objectives, to perform navigation or maneuvers. Most of…
Given a graph $G$, let $\mathrm{diam}(G)$ be the greatest distance between any two vertices of $G$ which lie in the same connected component, and let $\mathrm{diam}^+(G)$ be the greatest distance between any two vertices of $G$; so…
A consistent path system in a graph $G$ is an collection of paths, with exactly one path between any two vertices in $G$. A path system is said to be consistent if it is intersection-closed. We say that $G$ is strictly metrizable if every…
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…
In this paper we prove some geometric inequalities for closed surfaces in Euclidean three-space. Motivated by Gage's inequality for convex curves, we first verify that for convex surfaces the Willmore energy is bounded below by some…
Deformations can induce rotation with zero angular momentum where dissipation is a natural ``cost function''. This gives rise to an optimization problem of finding the most effective rotation with zero angular momentum. For certain plastic…
Optimal packing of spheres in $\mathbb R^d$ is studied by optimization of the energy $E$ (effective conductivity) of composites with ideally conducting spherical inclusions. It is demonstrated that the minimum of $E$ over locations of…
We study the relationship between the lengths of closed geodesics on hyperbolic surfaces and their topological complexity, measured by the self-intersection number. In particular, we provide explicit upper bounds for the length $s_k(X)$ of…
We show that the lower bound for the optimal directional discrepancy with respect to the class of rectangles in $\mathbb{R}^2$ rotated in a restricted interval of directions $[-\theta, \theta]$ with $\theta < \frac{\pi}{4}$ is of the order…