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Known algorithms for manipulating octagons do not preserve their sparsity, leading typically to quadratic or cubic time and space complexities even if no relation among variables is known when they are all bounded. In this paper, we present…
This paper presents an optimization-based solution to task and motion planning (TAMP) on mobile manipulators. Logic-geometric programming (LGP) has shown promising capabilities for optimally dealing with hybrid TAMP problems that involve…
Lazy search algorithms have been developed to efficiently solve planning problems in domains where the computational effort is dominated by the cost of edge evaluation. The existing algorithms operate by intelligently balancing…
In the context of planar conformal gauge theory, we study five-point correlation functions between the interaction Lagrangian and four of the lightest single-trace, gauge-invariant scalar primaries. After performing two light-cone OPEs, we…
Let G = (V, E) be a planar triangulated graph (PTG) having every face triangular. A rectilinear dual or an orthogonal floor plan (OFP) of G is obtained by partitioning a rectangle into \mid V \mid rectilinear regions (modules) where two…
We introduce and study a three-folded linear operator depending on three parameters that has associated a triangular number tilling of the plane. As a result the set of all triples of integers is decomposed in classes of equivalence…
This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which appear on the singular curves of the…
Problems affecting the transport of people or goods are plentiful in industry and commerce and they also appear to be at the origin of much more complex problems. In recent years, the logistics and transport sector keeps growing supported…
Boolean operations of geometric models is an essential issue in computational geometry. In this paper, we develop a simple and robust approach to perform Boolean operations on closed and open triangulated surfaces. Our method mainly has two…
In approximation algorithm design, light spanners has applications in graph-metric problems such as metric TSP (the traveling salesman problem). We have developed an efficient algorithm for light spanners in bounded pathwidth graphs, based…
We introduce the $k$-Plane Insertion into Plane drawing ($k$-PIP) problem: given a plane drawing of a planar graph $G$ and a set $F$ of edges, insert the edges in $F$ into the drawing such that the resulting drawing is $k$-plane. In this…
In SoCG 2022, Conroy and T\'oth presented several constructions of sparse, low-hop spanners in geometric intersection graphs, including an $O(n\log n)$-size 3-hop spanner for $n$ disks (or fat convex objects) in the plane, and an $O(n\log^2…
Conformal mapping has been applied mostly to harmonic functions, i.e. solutions of Laplace's equation. In this paper, it is noted that some other equations are also conformally invariant and thus equally well suited for conformal mapping in…
Graphical models with High Order Potentials (HOPs) have received considerable interest in recent years. While there are a variety of approaches to inference in these models, nearly all of them amount to solving a linear program (LP)…
For next-generation technology nodes, multiple patterning lithography (MPL) has emerged as a key solution, e.g., triple patterning lithography (TPL) for 14/11nm, and quadruple patterning lithography (QPL) for sub-10nm. In this paper, we…
We use orbifold structures to deduce degeneracy statements for holomorphic maps into logarithmic surfaces. We improve former results in the smooth case and generalize them to singular pairs. In particular, we give applications on nodal…
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…
We consider manipulation problems in constrained and cluttered settings, which require several regrasps at unknown locations. We propose to inform an optimization-based task and motion planning (TAMP) solver with possible regrasp areas and…
Highly coherent sensing matrices arise in discretization of continuum problems such as radar and medical imaging when the grid spacing is below the Rayleigh threshold as well as in using highly coherent, redundant dictionaries as…
We introduce the problem Synchronized Planarity. Roughly speaking, its input is a loop-free multi-graph together with synchronization constraints that, e.g., match pairs of vertices of equal degree by providing a bijection between their…