523 research outputs found

    Polygon Exploration with Time-Discrete Vision

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    With the advent of autonomous robots with two- and three-dimensional scanning capabilities, classical visibility-based exploration methods from computational geometry have gained in practical importance. However, real-life laser scanning of useful accuracy does not allow the robot to scan continuously while in motion; instead, it has to stop each time it surveys its environment. This requirement was studied by Fekete, Klein and Nuechter for the subproblem of looking around a corner, but until now has not been considered in an online setting for whole polygonal regions. We give the first algorithmic results for this important algorithmic problem that combines stationary art gallery-type aspects with watchman-type issues in an online scenario: We demonstrate that even for orthoconvex polygons, a competitive strategy can be achieved only for limited aspect ratio A (the ratio of the maximum and minimum edge length of the polygon), i.e., for a given lower bound on the size of an edge; we give a matching upper bound by providing an O(log A)-competitive strategy for simple rectilinear polygons, using the assumption that each edge of the polygon has to be fully visible from some scan point.Comment: 28 pages, 17 figures, 2 photographs, 3 tables, Latex. Updated some details (title, figures and text) for final journal revision, including explicit assumption of full edge visibilit

    Online Exploration of Polygons with Holes

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    We study online strategies for autonomous mobile robots with vision to explore unknown polygons with at most h holes. Our main contribution is an (h+c_0)!-competitive strategy for such polygons under the assumption that each hole is marked with a special color, where c_0 is a universal constant. The strategy is based on a new hybrid approach. Furthermore, we give a new lower bound construction for small h.Comment: 16 pages, 9 figures, submitted to WAOA 201

    Parallel methods for isosurface visualization

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    Journal Articleisosurface extraction and vis utilization is crucial for explorative scientific visualization of extremely large scientific data. The shear number of polygons extracted and the subsequent rendering time limit interactivity. We explore two solutions to this problem: exploiting parallel graphics hardware and parallel isosurface extraction/rendering via ray-tracing

    Interactive ray tracing for volume visualization

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    Journal ArticleWe present a brute-force ray tracing system for interactive volume visualization, The system runs on a conventional (distributed) shared-memory multiprocessor machine. For each pixel we trace a ray through a volume to compute the color for that pixel. Although this method has high intrinsic computational cost, its simplicity and scalability make it ideal for large datasets on current high-end parallel systems

    On-line algorithms for robot navigation and server problems

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    Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1994.Includes bibliographical references (p. 83-88).by Jon Michael Kleinberg.M.S
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