A Novel Approach for Extraction of Polygon Regions

This paper presents a new algorithm to find out whether a polygon exists around a reference point given within the graphical domain. The algorithm is based on creating discrete line segments and then searching them using the orientations formed at segments intersections. The computational complexity of the searching algorithm has been determined as O( n2

Algorithms for security in robotics and networks

The dissertation presents algorithms for robotics and security. The first chapter gives an overview of the area of visibility-based pursuit-evasion. The following two chapters introduce two specific algorithms in that area. The algorithms are based on research done together with Dr. Giora Slutzki and Dr. Steven LaValle. Chapter 2 presents a polynomial-time algorithm for clearing a polygon by a single 1-searcher. The result is extended to a polynomial-time algorithm for a pair of 1-searchers in Chapter 3.;Chapters 4 and 5 contain joint research with Dr. Srini Tridandapani, Dr. Jason Jue and Dr. Michael Borella in the area of computer networks. Chapter 4 presents a method of providing privacy over an insecure channel which does not require encryption. Chapter 5 gives approximate bounds for the link utilization in multicast traffic

Algorithms for Optimizing Search Schedules in a Polygon

In the area of motion planning, considerable work has been done on guarding problems, where "guards", modelled as points, must guard a polygonal space from "intruders". Different variants of this problem involve varying a number of factors. The guards performing the search may vary in terms of their number, their mobility, and their range of vision. The model of intruders may or may not allow them to move. The polygon being searched may have a specified starting point, a specified ending point, or neither of these. The typical question asked about one of these problems is whether or not certain polygons can be searched under a particular guarding paradigm defined by the types of guards and intruders. In this thesis, we focus on two cases of a chain of guards searching a room (polygon with a specific starting point) for mobile intruders. The intruders must never be allowed to escape through the door undetected. In the case of the two guard problem, the guards must start at the door point and move in opposite directions along the boundary of the polygon, never crossing the door point. At all times, the guards must be able to see each other. The search is complete once both guards occupy the same spot elsewhere on the polygon. In the case of a chain of three guards, consecutive guards in the chain must always be visible. Again, the search starts at the door point, and the outer guards of the chain must move from the door in opposite directions. These outer guards must always remain on the boundary of the polygon. The search is complete once the chain lies entirely on a portion of the polygon boundary not containing the door point. Determining whether a polygon can be searched is a problem in the area of visibility in polygons; further to that, our work is related to the area of planning algorithms. We look for ways to find optimal schedules that minimize the distance or time required to complete the search. This is done by finding shortest paths in visibility diagrams that indicate valid positions for the guards. In the case of the two-guard room search, we are able to find the shortest distance schedule and the quickest schedule. The shortest distance schedule is found in O(n^2) time by solving an L_1 shortest path problem among curved obstacles in two dimensions. The quickest search schedule is found in O(n^4) time by solving an L_infinity shortest path problem among curved obstacles in two dimensions. For the chain of three guards, a search schedule minimizing the total distance travelled by the outer guards is found in O(n^6) time by solving an L_1 shortest path problem among curved obstacles in two dimensions

Connectivity Constraints in Network Analysis

This dissertation establishes mathematical foundations of connectivity requirements arising in both abstract and geometric network analysis. Connectivity constraints are ubiquitous in network design and network analysis. Aside from the obvious applications in communication and transportation networks, they have also appeared in forest planning, political distracting, activity detection in video sequences and protein-protein interaction networks. Theoretically, connectivity constraints can be analyzed via polyhedral methods, in which we investigate the structure of (vertex)-connected subgraph polytope (CSP). One focus of this dissertation is on performing an extensive study of facets of CSP. We present the first systematic study of non-trivial facets of CSP. One advantage to study facets is that a facet-defining inequality is always among the tightest valid inequalities, so applying facet-defining inequalities when imposing connectivity constraints can guarantee good performance of the algorithm. We adopt lifting techniques to provide a framework to generate a wide class of facet-defining inequalities of CSP. We also derive the necessary and sufficient conditions when a vertex separator inequality, which plays a critical role in connectivity constraints, induces a facet of CSP. Another advantage to study facets is that CSP is uniquely determined by its facets, so full understanding of CSP's facets indicates full understanding of CSP itself. We are able to derive a full description of CSP for a wide class of graphs, including forest and several types of dense graphs, such as graphs with small independence number, s-plex with small s and s-defective cliques with small s. Furthermore, we investigate the relationship between lifting techniques, maximum weight connected subgraph problem and node-weight Steiner tree problem and study the computational complexity of generation of facet-defining inequalities. Another focus of this dissertation is to study connectivity in geometric network analysis. In geometric applications like wireless networks and communication networks, the concept of connectivity can be defined in various ways. In one case, connectivity is imposed by distance, which can be modeled by unit disk graphs (UDG). We create a polytime algorithm to identify large 2-clique in UDG; in another case when connectivity is based on visibility, we provide a generalization of the two-guard problem

An Algorithm for Searching a Polygonal Region with a Flashlight

We present an algorithm for a single pursuer with one ashlight that searches for an unpredictable, moving target with unbounded speed in a polygonal environment. The algorithm decides whether a simple polygon with n edges and m concave regions (m is typically much less than n, and always bounded by n) can be cleared by the pursuer, and if so, constructs a search schedule in time O(m 2 + m log n + n). The key ideas in this algorithm include a representation called the \visibility obstruction diagram" and its \skeleton," which is a combinatorial decomposition based on a number of critical visibility events. An implementation is presented along with a computed example. 1 Introduction Consider the following scenario: in a dark polygonal region there are two moving points. The rst one, called the pursuer, has the task to nd the second one, called the evader. The evader can move arbitrarily fast, and his movements are unpredictable by the pursuer. The pursuer is equipped with a..

An Algorithm for Searching a Polygonal Region with a Flashlight

We present an algorithm for a single pursuer with one ashlight searching for an unpredictable, moving target in a 2D environment. The algorithm decides whether a simple polygon with n edges and m concave regions can be cleared by the pursuer, and if so, constructs a search schedule of length O(m) in time O(m +m log n+n). The key ideas in this algorithm include a representation called \visibility obstruction diagram" and its \skeleton": a combinatorial decomposition based on a number of critical visibility events. An implementation is presented along with a computed example