Related papers: Trajectory Minimum Touching Ball
This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…
The complexity of nearest-neighbor search dominates the asymptotic running time of many sampling-based motion-planning algorithms. However, collision detection is often considered to be the computational bottleneck in practice. Examining…
We consider the problem of finding an optimal piecewise linear path (polygonal line) connecting two given points with the possibility of making n turns at some points (the absolute value of each turn angle does not exceed a prescribed…
We study the computational complexity of routing multiple objects through a network in such a way that only few collisions occur: Given a graph $G$ with two distinct terminal vertices and two positive integers $p$ and $k$, the question is…
Quantum algorithms for graph problems are considered, both in the adjacency matrix model and in an adjacency list-like array model. We give almost tight lower and upper bounds for the bounded error quantum query complexity of Connectivity,…
We consider the problem of finding minimum-link rectilinear paths in rectilinear polygonal domains in the plane. A path or a polygon is rectilinear if all its edges are axis-parallel. Given a set $\mathcal{P}$ of $h$ pairwise-disjoint…
Given an undirected, weighted graph, with $n$ vertices and $m$ edges, and two special vertices $s$ and $t$, the problem is to find the shortest path between them. We give two bounded-error quantum algorithms with improved runtime in the…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
Finding nonoverlapping balls with given centers in any metric space, maximizing the sum of radii of the balls, can be expressed as a linear program. Its dual linear program expresses the problem of finding a minimum-weight set of cycles…
Given an orthogonal polygon $ P $ with $ n $ vertices, the goal of the watchman route problem is finding a path $ S $ of the minimum length in $ P $ such that every point of the polygon $ P $ is visible from at least one of the point of $ S…
In the Disjoint Shortest Paths problem one is given a graph $G$ and a set $\mathcal{T}=\{(s_1,t_1),\dots,(s_k,t_k)\}$ of $k$ vertex pairs. The question is whether there exist vertex-disjoint paths $P_1,\dots,P_k$ in $G$ so that each $P_i$…
Described are two algorithms to find long approximate palindromes in a string, for example a DNA sequence. A simple algorithm requires O(n)-space and almost always runs in $O(k.n)$-time where n is the length of the string and k is the…
Let $G$ be a directed planar graph of complexity $n$, each arc having a nonnegative length. Let $s$ and $t$ be two distinct faces of $G$; let $s_1,...,s_k$ be vertices incident with $s$; let $t_1,...,t_k$ be vertices incident with $t$. We…
A new efficient algorithm is presented for finding all simple cycles that satisfy a length constraint in a directed graph. When the number of vertices is non-trivial, most cycle-finding problems are of practical interest for sparse graphs…
Given $n$ line segments in the plane, do they form the edge set of a \emph{weakly simple polygon}; that is, can the segment endpoints be perturbed by at most $\varepsilon$, for any $\varepsilon>0$, to obtain a simple polygon? While 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…
The minimum orbital intersection distance is used as a measure to assess potential close approaches and collision risks between astronomical objects. Methods to calculate this quantity have been proposed in several previous publications.…
We consider the stochastic $k$-TSP problem where rewards at vertices are random and the objective is to minimize the expected length of a tour that collects reward $k$. We present an adaptive $O(\log k)$-approximation algorithm, and a…
Reachability questions are one of the most fundamental algorithmic primitives in temporal graphs -- graphs whose edge set changes over discrete time steps. A core problem here is the NP-hard Short Restless Temporal Path: given a temporal…
We give almost tight conditional lower bounds on the running time of the kHyperPath problem. Given an $r$-uniform hypergraph for some integer $r$, kHyperPath seeks a tight path of length $k$. That is, a sequence of $k$ nodes such that every…