Related papers: Optimal Geodesic Curvature Constrained Dubins' Pat…
We consider planar quadrangulations with three marked vertices and discuss the geometry of triangles made of three geodesic paths joining them. We also study the geometry of minimal separating loops, i.e. paths of minimal length among all…
Motion planning for autonomous vehicles requires generating collision-free and dynamically feasible trajectories in complex environments under real-time constraints. While nonlinear optimal control formulations provide high-fidelity…
This paper considers the problem of finding a quickest path between two points in the Euclidean plane in the presence of a transportation network. A transportation network consists of a planar network where each road (edge) has an…
This paper investigates a generalized hyperbolic circle packing (including circles, horocycles or hypercycles) with respect to the total geodesic curvatures on the surface with boundary. We mainly focus on the existence and rigidity of…
In many problems in optimal control, one seeks to minimise an objective function subject to constraints on the velocity of the system. Imposing these constraints directly -- the ``hard-constrained'' approach -- is often analytically and…
We study the query complexity of geodesically convex (g-convex) optimization on a manifold. To isolate the effect of that manifold's curvature, we primarily focus on hyperbolic spaces. In a variety of settings (smooth or not; strongly…
In a series of papers, Avraham, Filtser, Kaplan, Katz, and Sharir (SoCG'14), Kaplan, Katz, Saban, and Sharir (ESA'23), and Katz, Saban, and Sharir (ESA'24) studied a class of geometric optimization problems -- including reverse shortest…
Given a connected graph $G$ with some subset of its vertices excited and a fixed target vertex, in the geodesic-biased random walk on $G$, a random walker moves as follows: from an unexcited vertex, she moves to a uniformly random…
In this article, a variation of the classical Markov-Dubins problem is considered, which deals with curvature-constrained least-cost paths in a plane with prescribed initial and final configurations, different bounds for the sinistral and…
This article explores closed geodesics on hyperbolic surfaces. We show that, for sufficiently large $k$, the shortest closed geodesics with at least $k$ self-intersections, taken among all hyperbolic surfaces, all lie on an ideal pair of…
Determining the quantum circuit complexity of a unitary operation is closely related to the problem of finding minimal length paths in a particular curved geometry [Nielsen et al, Science 311, 1133-1135 (2006)]. This paper investigates many…
The maximum rectilinear crossing number of a graph $G$ is the maximum number of crossings in a good straight-line drawing of $G$ in the plane. In a good drawing any two edges intersect in at most one point (counting endpoints), no three…
A geodesic cycle is a closed curve that connects finitely many points along geodesics. We study geodesic cycles on the sphere in regard to their role in equal-weight quadrature rules and approximation.
Any finite configuration of curves with minimal intersections on a surface is a configuration of shortest geodesics for some Riemannian metric on the surface. The metric can be chosen to make the lengths of these geodesics equal to the…
For two points $p$ and $q$ in the plane, a straight line $h$, called a highway, and a real $v>1$, we define the \emph{travel time} (also known as the \emph{city distance}) from $p$ and $q$ to be the time needed to traverse a quickest path…
We consider the motion of a rigid body immersed in an ideal flow occupying the plane, with bounded initial vorticity. In that case there exists a unique corresponding solution which is global in time, in the spirit of the famous work by…
Consider transportation of one distribution of mass onto another, chosen to optimize the total expected cost, where cost per unit mass transported from x to y is given by a smooth function c(x,y). If the source density f^+(x) is bounded…
A graph is called a $k$-planar unit distance graph if it can be drawn in the plane such that every edge is a unit line segment and is involved in at most $k$ crossings. We investigate $u_k(n)$, the maximum number of edges of such graphs on…
We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also…
A path $P = v_1, ..., v_t$ is a {\em triangle path} (respectively, {\em monophonic path}) of $G$ if no edges exist joining vertices $v_i$ and $v_j$ of $P$ such that $|j - i| > 2$; (respectively, $|j - i| > 1$). A set of vertices $S$ is {\em…