Complexity of Minimum Corridor Guarding Problems

In this paper, the complexity of minimum corridor guarding problems is discussed. These problem can be described as: given a connected orthogo-nal arrangement of vertical and horizontal line segments and a guard with unlimited visibility along a line segment, find a tree or a closed tour with minimum total length along edges of the arrangement, such that if the guard runs on the tree or on the closed tour, all line segments are visited by the guard. These problems are proved to be NP-complete. Keywords: computational complexity, computational geometry, corridor guarding, NP-complet

Online Searching with an Autonomous Robot

We discuss online strategies for visibility-based searching for an object hidden behind a corner, using Kurt3D, a real autonomous mobile robot. This task is closely related to a number of well-studied problems. Our robot uses a three-dimensional laser scanner in a stop, scan, plan, go fashion for building a virtual three-dimensional environment. Besides planning trajectories and avoiding obstacles, Kurt3D is capable of identifying objects like a chair. We derive a practically useful and asymptotically optimal strategy that guarantees a competitive ratio of 2, which differs remarkably from the well-studied scenario without the need of stopping for surveying the environment. Our strategy is used by Kurt3D, documented in a separate video.Comment: 16 pages, 8 figures, 12 photographs, 1 table, Latex, submitted for publicatio

Polygon Exploration with Time-Discrete Vision

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

A PTAS for Euclidean TSP with Hyperplane Neighborhoods

In the Traveling Salesperson Problem with Neighborhoods (TSPN), we are given a collection of geometric regions in some space. The goal is to output a tour of minimum length that visits at least one point in each region. Even in the Euclidean plane, TSPN is known to be APX-hard, which gives rise to studying more tractable special cases of the problem. In this paper, we focus on the fundamental special case of regions that are hyperplanes in the $d$-dimensional Euclidean space. This case contrasts the much-better understood case of so-called fat regions. While for $d=2$ an exact algorithm with running time $O(n^5)$ is known, settling the exact approximability of the problem for $d=3$ has been repeatedly posed as an open question. To date, only an approximation algorithm with guarantee exponential in $d$ is known, and NP-hardness remains open. For arbitrary fixed $d$, we develop a Polynomial Time Approximation Scheme (PTAS) that works for both the tour and path version of the problem. Our algorithm is based on approximating the convex hull of the optimal tour by a convex polytope of bounded complexity. Such polytopes are represented as solutions of a sophisticated LP formulation, which we combine with the enumeration of crucial properties of the tour. As the approximation guarantee approaches $1$, our scheme adjusts the complexity of the considered polytopes accordingly. In the analysis of our approximation scheme, we show that our search space includes a sufficiently good approximation of the optimum. To do so, we develop a novel and general sparsification technique to transform an arbitrary convex polytope into one with a constant number of vertices and, in turn, into one of bounded complexity in the above sense. Hereby, we maintain important properties of the polytope

The traveling salesman problem for lines, balls and planes

We revisit the traveling salesman problem with neighborhoods (TSPN) and propose several new approximation algorithms. These constitute either first approximations (for hyperplanes, lines, and balls in $\mathbb{R}^d$, for $d\geq 3$) or improvements over previous approximations achievable in comparable times (for unit disks in the plane). \smallskip (I) Given a set of $n$ hyperplanes in $\mathbb{R}^d$, a TSP tour whose length is at most $O(1)$ times the optimal can be computed in $O(n)$ time, when $d$ is constant. \smallskip (II) Given a set of $n$ lines in $\mathbb{R}^d$, a TSP tour whose length is at most $O(\log^3 n)$ times the optimal can be computed in polynomial time for all $d$. \smallskip (III) Given a set of $n$ unit balls in $\mathbb{R}^d$, a TSP tour whose length is at most $O(1)$ times the optimal can be computed in polynomial time, when $d$ is constant.Comment: 30 pages, 9 figures; final version to appear in ACM Transactions on Algorithm