Computing largest circles separating two sets of segments

A circle $C$ separates two planar sets if it encloses one of the sets and its open interior disk does not meet the other set. A separating circle is a largest one if it cannot be locally increased while still separating the two given sets. An Theta(n log n) optimal algorithm is proposed to find all largest circles separating two given sets of line segments when line segments are allowed to meet only at their endpoints. In the general case, when line segments may intersect $\Omega(n^2)$ times, our algorithm can be adapted to work in O(n alpha(n) log n) time and O(n \alpha(n)) space, where alpha(n) represents the extremely slowly growing inverse of the Ackermann function.Comment: 14 pages, 3 figures, abstract presented at 8th Canadian Conference on Computational Geometry, 199

Computing Largest Circles Separating Two Sets of Segments

International audienceA circle C separates two planar sets if it encloses one of the sets and its open interior disk does not meet the other set. A separating circle is a largest one if it cannot be locally increased while still separating the two given sets. An Theta(n log n) optimal algorithm is proposed to find all largest circles separating two given sets of line segments when line segments are allowed to meet only at their endpoints. In the general case, when line segments may intersect Omega(n^2) times, our algorithm can be adapted to work in O(n alpha(n) log n) time and O(n alpha(n)) space, where alpha(n) represents the extremely slowly growing inverse of the Ackermann function

Covering Points by Disjoint Boxes with Outliers

For a set of n points in the plane, we consider the axis--aligned (p,k)-Box Covering problem: Find p axis-aligned, pairwise-disjoint boxes that together contain n-k points. In this paper, we consider the boxes to be either squares or rectangles, and we want to minimize the area of the largest box. For general p we show that the problem is NP-hard for both squares and rectangles. For a small, fixed number p, we give algorithms that find the solution in the following running times: For squares we have O(n+k log k) time for p=1, and O(n log n+k^p log^p k time for p = 2,3. For rectangles we get O(n + k^3) for p = 1 and O(n log n+k^{2+p} log^{p-1} k) time for p = 2,3. In all cases, our algorithms use O(n) space.Comment: updated version: - changed problem from 'cover exactly n-k points' to 'cover at least n-k points' to avoid having non-feasible solutions. Results are unchanged. - added Proof to Lemma 11, clarified some sections - corrected typos and small errors - updated affiliations of two author

Extensions of the Maximum Bichromatic Separating Rectangle Problem

In this paper, we study two extensions of the maximum bichromatic separating rectangle (MBSR) problem introduced in \cite{Armaselu-CCCG, Armaselu-arXiv}. One of the extensions, introduced in \cite{Armaselu-FWCG}, is called \textit{MBSR with outliers} or MBSR-O, and is a more general version of the MBSR problem in which the optimal rectangle is allowed to contain up to $k$ outliers, where $k$ is given as part of the input. For MBSR-O, we improve the previous known running time bounds of $O(k^7 m \log m + n)$ to $O(k^3 m + m \log m + n)$. The other extension is called \textit{MBSR among circles} or MBSR-C and asks for the largest axis-aligned rectangle separating red points from blue unit circles. For MBSR-C, we provide an algorithm that runs in $O(m^2 + n)$ time.Comment: 14 pages, 14 figures, full version of CCCG pape

Motion Planning of Legged Robots

We study the problem of computing the free space F of a simple legged robot called the spider robot. The body of this robot is a single point and the legs are attached to the body. The robot is subject to two constraints: each leg has a maximal extension R (accessibility constraint) and the body of the robot must lie above the convex hull of its feet (stability constraint). Moreover, the robot can only put its feet on some regions, called the foothold regions. The free space F is the set of positions of the body of the robot such that there exists a set of accessible footholds for which the robot is stable. We present an efficient algorithm that computes F in O(n2 log n) time using O(n2 alpha(n)) space for n discrete point footholds where alpha(n) is an extremely slowly growing function (alpha(n) <= 3 for any practical value of n). We also present an algorithm for computing F when the foothold regions are pairwise disjoint polygons with n edges in total. This algorithm computes F in O(n2 alpha8(n) log n) time using O(n2 alpha8(n)) space (alpha8(n) is also an extremely slowly growing function). These results are close to optimal since Omega(n2) is a lower bound for the size of F.Comment: 29 pages, 22 figures, prelininar results presented at WAFR94 and IEEE Robotics & Automation 9

Configuration spaces of rings and wickets

The main result in this paper is that the space of all smooth links in Euclidean 3-space isotopic to the trivial link of n components has the same homotopy type as its finite-dimensional subspace consisting of configurations of n unlinked Euclidean circles (the "rings" in the title). There is also an analogous result for spaces of arcs in upper half-space, with circles replaced by semicircles (the "wickets" in the title). A key part of the proofs is a procedure for greatly reducing the complexity of tangled configurations of rings and wickets. This leads to simple methods for computing presentations for the fundamental groups of these spaces of rings and wickets as well as various interesting subspaces. The wicket spaces are also shown to be K(G,1)'s.Comment: 28 pages. Some revisions in the expositio