813 research outputs found
Reachability analysis of linear hybrid systems via block decomposition
Reachability analysis aims at identifying states reachable by a system within
a given time horizon. This task is known to be computationally expensive for
linear hybrid systems. Reachability analysis works by iteratively applying
continuous and discrete post operators to compute states reachable according to
continuous and discrete dynamics, respectively. In this paper, we enhance both
of these operators and make sure that most of the involved computations are
performed in low-dimensional state space. In particular, we improve the
continuous-post operator by performing computations in high-dimensional state
space only for time intervals relevant for the subsequent application of the
discrete-post operator. Furthermore, the new discrete-post operator performs
low-dimensional computations by leveraging the structure of the guard and
assignment of a considered transition. We illustrate the potential of our
approach on a number of challenging benchmarks.Comment: Accepted at EMSOFT 202
Fast detection of polyhedral intersection
AbstractMethods are given for unifying and extending previous work on detecting intersections of suitably preprocessed polyhedra. New upper bounds of O(log n) and O(log2 n) are given on plane-polyhedron and polyhedron-polyhedron intersection problems
An exact general remeshing scheme applied to physically conservative voxelization
We present an exact general remeshing scheme to compute analytic integrals of
polynomial functions over the intersections between convex polyhedral cells of
old and new meshes. In physics applications this allows one to ensure global
mass, momentum, and energy conservation while applying higher-order polynomial
interpolation. We elaborate on applications of our algorithm arising in the
analysis of cosmological N-body data, computer graphics, and continuum
mechanics problems.
We focus on the particular case of remeshing tetrahedral cells onto a
Cartesian grid such that the volume integral of the polynomial density function
given on the input mesh is guaranteed to equal the corresponding integral over
the output mesh. We refer to this as "physically conservative voxelization".
At the core of our method is an algorithm for intersecting two convex
polyhedra by successively clipping one against the faces of the other. This
algorithm is an implementation of the ideas presented abstractly by Sugihara
(1994), who suggests using the planar graph representations of convex polyhedra
to ensure topological consistency of the output. This makes our implementation
robust to geometric degeneracy in the input. We employ a simplicial
decomposition to calculate moment integrals up to quadratic order over the
resulting intersection domain.
We also address practical issues arising in a software implementation,
including numerical stability in geometric calculations, management of
cancellation errors, and extension to two dimensions. In a comparison to recent
work, we show substantial performance gains. We provide a C implementation
intended to be a fast, accurate, and robust tool for geometric calculations on
polyhedral mesh elements.Comment: Code implementation available at https://github.com/devonmpowell/r3
Separation-Sensitive Collision Detection for Convex Objects
We develop a class of new kinetic data structures for collision detection
between moving convex polytopes; the performance of these structures is
sensitive to the separation of the polytopes during their motion. For two
convex polygons in the plane, let be the maximum diameter of the polygons,
and let be the minimum distance between them during their motion. Our
separation certificate changes times when the relative motion of
the two polygons is a translation along a straight line or convex curve,
for translation along an algebraic trajectory, and for
algebraic rigid motion (translation and rotation). Each certificate update is
performed in time. Variants of these data structures are also
shown that exhibit \emph{hysteresis}---after a separation certificate fails,
the new certificate cannot fail again until the objects have moved by some
constant fraction of their current separation. We can then bound the number of
events by the combinatorial size of a certain cover of the motion path by
balls.Comment: 10 pages, 8 figures; to appear in Proc. 10th Annual ACM-SIAM
Symposium on Discrete Algorithms, 1999; see also
http://www.uiuc.edu/ph/www/jeffe/pubs/kollide.html ; v2 replaces submission
with camera-ready versio
A Product Formula for the Normalized Volume of Free Sums of Lattice Polytopes
The free sum is a basic geometric operation among convex polytopes. This note
focuses on the relationship between the normalized volume of the free sum and
that of the summands. In particular, we show that the normalized volume of the
free sum of full dimensional polytopes is precisely the product of the
normalized volumes of the summands.Comment: Published in the proceedings of 2017 Southern Regional Algebra
Conferenc
Vertex-Facet Incidences of Unbounded Polyhedra
How much of the combinatorial structure of a pointed polyhedron is contained
in its vertex-facet incidences? Not too much, in general, as we demonstrate by
examples. However, one can tell from the incidence data whether the polyhedron
is bounded. In the case of a polyhedron that is simple and "simplicial," i.e.,
a d-dimensional polyhedron that has d facets through each vertex and d vertices
on each facet, we derive from the structure of the vertex-facet incidence
matrix that the polyhedron is necessarily bounded. In particular, this yields a
characterization of those polyhedra that have circulants as vertex-facet
incidence matrices.Comment: LaTeX2e, 14 pages with 4 figure
Witness (Delaunay) Graphs
Proximity graphs are used in several areas in which a neighborliness
relationship for input data sets is a useful tool in their analysis, and have
also received substantial attention from the graph drawing community, as they
are a natural way of implicitly representing graphs. However, as a tool for
graph representation, proximity graphs have some limitations that may be
overcome with suitable generalizations. We introduce a generalization, witness
graphs, that encompasses both the goal of more power and flexibility for graph
drawing issues and a wider spectrum for neighborhood analysis. We study in
detail two concrete examples, both related to Delaunay graphs, and consider as
well some problems on stabbing geometric objects and point set discrimination,
that can be naturally described in terms of witness graphs.Comment: 27 pages. JCCGG 200
Efficient contact determination between geometric models
http://archive.org/details/efficientcontact00linmN
- …