473 research outputs found
Shortest Path in a Polygon using Sublinear Space
\renewcommand{\Re}{{\rm I\!\hspace{-0.025em} R}}
\newcommand{\SetX}{\mathsf{X}} \newcommand{\VorX}[1]{\mathcal{V} \pth{#1}}
\newcommand{\Polygon}{\mathsf{P}} \newcommand{\Space}{\overline{\mathsf{m}}}
\newcommand{\pth}[2][\!]{#1\left({#2}\right)} We resolve an open problem due
to Tetsuo Asano, showing how to compute the shortest path in a polygon, given
in a read only memory, using sublinear space and subquadratic time.
Specifically, given a simple polygon \Polygon with vertices in a read
only memory, and additional working memory of size \Space, the new algorithm
computes the shortest path (in \Polygon) in O( n^2 /\, \Space ) expected
time. This requires several new tools, which we believe to be of independent
interest
Sensory processing and world modeling for an active ranging device
In this project, we studied world modeling and sensory processing for laser range data. World Model data representation and operation were defined. Sensory processing algorithms for point processing and linear feature detection were designed and implemented. The interface between world modeling and sensory processing in the Servo and Primitive levels was investigated and implemented. In the primitive level, linear features detectors for edges were also implemented, analyzed and compared. The existing world model representations is surveyed. Also presented is the design and implementation of the Y-frame model, a hierarchical world model. The interfaces between the world model module and the sensory processing module are discussed as well as the linear feature detectors that were designed and implemented
Geometric Path-Planning Algorithm in Cluttered 2D Environments Using Convex Hulls
Routing or path planning is the problem of finding a collision-free path in an environment usually scattered with multiple objects. Finding the shortest route in a planar (2D) or spatial (3D) environment has a variety of applications such as robot motion planning, navigating autonomous vehicles, routing of cables, wires, and harnesses in vehicles, routing of pipes in chemical process plants, etc. The problem often times is decomposed into two main sub-problems: modeling and representation of the workspace geometrically and optimization of the path. Geometric modeling and representation of the workspace are paramount in any path planning problem since it builds the data structures and provides the means for solving the optimization problem. The optimization aspect of the path planning involves satisfying some constraints, the most important of which is to avoid intersections with the interior of any object and optimizing one or more criteria. The most common criterion in path planning problems is to minimize the length of the path between a source and a destination point of the workspace while other criteria such as minimizing the number of links or curves could also be taken into account. Planar path planning is mainly about modeling the workspace of the problem as a collision-free graph. The graph is, later on, searched for the optimal path using network optimization techniques such as branch-and-bound or search algorithms such as Dijkstra\u27s. Previous methods developed to construct the collision-free graph explore the entire workspace of the problem which usually results in some unnecessary information that has no value but to increase the time complexity of the algorithm, hence, affecting the efficiency significantly. For example, the fastest known algorithm to construct the visibility graph, which is the most common method of modeling the collision-free space, in a workspace with a total of n vertices has a time complexity of order O(n2). In this research, first, the 2D workspace of the problem is modeled using the tessellated format of the objects in a CAD software which facilitates handling of any free-form object. Then, an algorithm is developed to construct the collision-free graph of the workspace using the convex hulls of the intersecting obstacles. The proposed algorithm focuses only on a portion of the workspace involved in the straight line connecting the source and destination points. Considering the worst case that all the objects of the workspace are intersecting, the algorithm yields a time complexity of O(nlog(n/f)), with n being the total number of vertices and f being the number of objects. The collision-free graph is later searched for the shortest path between the two given nodes using a search algorithm known as Dijkstra\u27s
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A Galerkin boundary element method for high frequency scattering by convex polygons
In this paper we consider the problem of time-harmonic acoustic scattering in two dimensions by convex polygons. Standard boundary or finite element methods for acoustic scattering problems have a computational cost that grows at least linearly as a function of the frequency of the incident wave. Here we present a novel Galerkin boundary element method, which uses an approximation space consisting of the products of plane waves with piecewise polynomials supported on a graded mesh, with smaller elements closer to the corners of the polygon. We prove that the best approximation from the approximation space requires a number of degrees of freedom to achieve a prescribed level of accuracy that grows only logarithmically as a function of the frequency. Numerical results demonstrate the same logarithmic dependence on the frequency for the Galerkin method solution. Our boundary element method is a discretization of a well-known second kind combined-layer-potential integral equation. We provide a proof that this equation and its adjoint are well-posed and equivalent to the boundary value problem in a Sobolev space setting for general Lipschitz domains
Polylidar3D -- Fast Polygon Extraction from 3D Data
Flat surfaces captured by 3D point clouds are often used for localization,
mapping, and modeling. Dense point cloud processing has high computation and
memory costs making low-dimensional representations of flat surfaces such as
polygons desirable. We present Polylidar3D, a non-convex polygon extraction
algorithm which takes as input unorganized 3D point clouds (e.g., LiDAR data),
organized point clouds (e.g., range images), or user-provided meshes.
Non-convex polygons represent flat surfaces in an environment with interior
cutouts representing obstacles or holes. The Polylidar3D front-end transforms
input data into a half-edge triangular mesh. This representation provides a
common level of input data abstraction for subsequent back-end processing. The
Polylidar3D back-end is composed of four core algorithms: mesh smoothing,
dominant plane normal estimation, planar segment extraction, and finally
polygon extraction. Polylidar3D is shown to be quite fast, making use of CPU
multi-threading and GPU acceleration when available. We demonstrate
Polylidar3D's versatility and speed with real-world datasets including aerial
LiDAR point clouds for rooftop mapping, autonomous driving LiDAR point clouds
for road surface detection, and RGBD cameras for indoor floor/wall detection.
We also evaluate Polylidar3D on a challenging planar segmentation benchmark
dataset. Results consistently show excellent speed and accuracy.Comment: 40 page
High order direct Arbitrary-Lagrangian-Eulerian schemes on moving Voronoi meshes with topology changes
We present a new family of very high order accurate direct
Arbitrary-Lagrangian-Eulerian (ALE) Finite Volume (FV) and Discontinuous
Galerkin (DG) schemes for the solution of nonlinear hyperbolic PDE systems on
moving 2D Voronoi meshes that are regenerated at each time step and which
explicitly allow topology changes in time.
The Voronoi tessellations are obtained from a set of generator points that
move with the local fluid velocity. We employ an AREPO-type approach, which
rapidly rebuilds a new high quality mesh rearranging the element shapes and
neighbors in order to guarantee a robust mesh evolution even for vortex flows
and very long simulation times. The old and new Voronoi elements associated to
the same generator are connected to construct closed space--time control
volumes, whose bottom and top faces may be polygons with a different number of
sides. We also incorporate degenerate space--time sliver elements, needed to
fill the space--time holes that arise because of topology changes. The final
ALE FV-DG scheme is obtained by a redesign of the fully discrete direct ALE
schemes of Boscheri and Dumbser, extended here to moving Voronoi meshes and
space--time sliver elements. Our new numerical scheme is based on the
integration over arbitrary shaped closed space--time control volumes combined
with a fully-discrete space--time conservation formulation of the governing PDE
system. In this way the discrete solution is conservative and satisfies the GCL
by construction.
Numerical convergence studies as well as a large set of benchmarks for
hydrodynamics and magnetohydrodynamics (MHD) demonstrate the accuracy and
robustness of the proposed method. Our numerical results clearly show that the
new combination of very high order schemes with regenerated meshes with
topology changes lead to substantial improvements compared to direct ALE
methods on conforming meshes
Optimization-Based Design of Departure and Arrival Routes in Terminal Maneuvering Area
International audienceThe efficient design of departure and arrival routes in the airspace surrounding airports, called the Terminal Maneuvering Area (TMA), is crucial for increasing the capacity of such areas, and thus alleviating congestion around airports caused by worldwide air traffic growth. In this paper, an efficient method of designing departure and arrival routes in TMA is proposed, taking into account the configuration of the airport and nearby environment, as well as related operational constraints, such as obstacle avoidance and route separation. Each route is modeled in three dimensions (3D), and consists of two components: a curve in the horizontal plane and a cone in the vertical plane. A Branch and Bound (B&B)-based approach is developed, whose branching strategies are tailored to how the obstacles are avoided. Routes are generated sequentially, and each route is initially built in isolation. If the route is found to be in conflict with previously generated routes, it is perturbed locally around the conflict zones. Numerical tests, performed on artificially generated problems and the TMA of Paris Charles-de-Gaulle (CDG) airport, demonstrate that the proposed method is efficient and could be embedded in a decision-aid tool for procedure design
Kinetic Voronoi Diagrams and Delaunay Triangulations under Polygonal Distance Functions
Let be a set of points and a convex -gon in .
We analyze in detail the topological (or discrete) changes in the structure of
the Voronoi diagram and the Delaunay triangulation of , under the convex
distance function defined by , as the points of move along prespecified
continuous trajectories. Assuming that each point of moves along an
algebraic trajectory of bounded degree, we establish an upper bound of
on the number of topological changes experienced by the
diagrams throughout the motion; here is the maximum length of an
-Davenport-Schinzel sequence, and is a constant depending on the
algebraic degree of the motion of the points. Finally, we describe an algorithm
for efficiently maintaining the above structures, using the kinetic data
structure (KDS) framework
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