2,220 research outputs found
A "Piano Movers" Problem Reformulated
It has long been known that cylindrical algebraic decompositions (CADs) can
in theory be used for robot motion planning. However, in practice even the
simplest examples can be too complicated to tackle. We consider in detail a
"Piano Mover's Problem" which considers moving an infinitesimally thin piano
(or ladder) through a right-angled corridor.
Producing a CAD for the original formulation of this problem is still
infeasible after 25 years of improvements in both CAD theory and computer
hardware. We review some alternative formulations in the literature which use
differing levels of geometric analysis before input to a CAD algorithm. Simpler
formulations allow CAD to easily address the question of the existence of a
path. We provide a new formulation for which both a CAD can be constructed and
from which an actual path could be determined if one exists, and analyse the
CADs produced using this approach for variations of the problem.
This emphasises the importance of the precise formulation of such problems
for CAD. We analyse the formulations and their CADs considering a variety of
heuristics and general criteria, leading to conclusions about tackling other
problems of this form.Comment: 8 pages. Copyright IEEE 201
Truth Table Invariant Cylindrical Algebraic Decomposition by Regular Chains
A new algorithm to compute cylindrical algebraic decompositions (CADs) is
presented, building on two recent advances. Firstly, the output is truth table
invariant (a TTICAD) meaning given formulae have constant truth value on each
cell of the decomposition. Secondly, the computation uses regular chains theory
to first build a cylindrical decomposition of complex space (CCD) incrementally
by polynomial. Significant modification of the regular chains technology was
used to achieve the more sophisticated invariance criteria. Experimental
results on an implementation in the RegularChains Library for Maple verify that
combining these advances gives an algorithm superior to its individual
components and competitive with the state of the art
Adapting Real Quantifier Elimination Methods for Conflict Set Computation
The satisfiability problem in real closed fields is decidable. In the context
of satisfiability modulo theories, the problem restricted to conjunctive sets
of literals, that is, sets of polynomial constraints, is of particular
importance. One of the central problems is the computation of good explanations
of the unsatisfiability of such sets, i.e.\ obtaining a small subset of the
input constraints whose conjunction is already unsatisfiable. We adapt two
commonly used real quantifier elimination methods, cylindrical algebraic
decomposition and virtual substitution, to provide such conflict sets and
demonstrate the performance of our method in practice
On Range Searching with Semialgebraic Sets II
Let be a set of points in . We present a linear-size data
structure for answering range queries on with constant-complexity
semialgebraic sets as ranges, in time close to . It essentially
matches the performance of similar structures for simplex range searching, and,
for , significantly improves earlier solutions by the first two authors
obtained in~1994. This almost settles a long-standing open problem in range
searching.
The data structure is based on the polynomial-partitioning technique of Guth
and Katz [arXiv:1011.4105], which shows that for a parameter , , there exists a -variate polynomial of degree such that
each connected component of contains at most points
of , where is the zero set of . We present an efficient randomized
algorithm for computing such a polynomial partition, which is of independent
interest and is likely to have additional applications
Need Polynomial Systems Be Doubly-Exponential?
Polynomial Systems, or at least their algorithms, have the reputation of
being doubly-exponential in the number of variables [Mayr and Mayer, 1982],
[Davenport and Heintz, 1988]. Nevertheless, the Bezout bound tells us that that
number of zeros of a zero-dimensional system is singly-exponential in the
number of variables. How should this contradiction be reconciled?
We first note that [Mayr and Ritscher, 2013] shows that the doubly
exponential nature of Gr\"{o}bner bases is with respect to the dimension of the
ideal, not the number of variables. This inspires us to consider what can be
done for Cylindrical Algebraic Decomposition which produces a
doubly-exponential number of polynomials of doubly-exponential degree.
We review work from ISSAC 2015 which showed the number of polynomials could
be restricted to doubly-exponential in the (complex) dimension using McCallum's
theory of reduced projection in the presence of equational constraints. We then
discuss preliminary results showing the same for the degree of those
polynomials. The results are under primitivity assumptions whose importance we
illustrate.Comment: Extended Abstract for ICMS 2016 Presentation. arXiv admin note: text
overlap with arXiv:1605.0249
Deciding the consistency of non-linear real arithmetic constraints with a conflict driven search using cylindrical algebraic coverings
We present a new algorithm for determining the satisfiability of conjunctions
of non-linear polynomial constraints over the reals, which can be used as a
theory solver for satisfiability modulo theory (SMT) solving for non-linear
real arithmetic. The algorithm is a variant of Cylindrical Algebraic
Decomposition (CAD) adapted for satisfiability, where solution candidates
(sample points) are constructed incrementally, either until a satisfying sample
is found or sufficient samples have been sampled to conclude unsatisfiability.
The choice of samples is guided by the input constraints and previous
conflicts.
The key idea behind our new approach is to start with a partial sample;
demonstrate that it cannot be extended to a full sample; and from the reasons
for that rule out a larger space around the partial sample, which build up
incrementally into a cylindrical algebraic covering of the space. There are
similarities with the incremental variant of CAD, the NLSAT method of Jovanovic
and de Moura, and the NuCAD algorithm of Brown; but we present worked examples
and experimental results on a preliminary implementation to demonstrate the
differences to these, and the benefits of the new approach
- …