Hide-and-Seek with Directional Sensing

We consider a game played between a hider, who hides a static object in one of several possible positions in a bounded planar region, and a searcher, who wishes to reach the object by querying sensors placed in the plane. The searcher is a mobile agent, and whenever it physically visits a sensor, the sensor returns a random direction, corresponding to a half-plane in which the hidden object is located. We first present a novel search heuristic and characterize bounds on the expected distance covered before reaching the object. Next, we model this game as a large-dimensional zero-sum dynamic game and we apply a recently introduced randomized sampling technique that provides a probabilistic level of security to the hider. We observe that, when the randomized sampling approach is only allowed to select a very small number of samples, the cost of the heuristic is comparable to the security level provided by the randomized procedure. However, as we allow the number of samples to increase, the randomized procedure provides a higher probabilistic security level.Comment: A short version of this paper (without proofs) will be presented at the 18th IFAC World Congress (IFAC 2011), Milan (Italy), August 28-September 2, 201

Treewidth, crushing, and hyperbolic volume

We prove that there exists a universal constant $c$ such that any closed hyperbolic 3-manifold admits a triangulation of treewidth at most $c$ times its volume. The converse is not true: we show there exists a sequence of hyperbolic 3-manifolds of bounded treewidth but volume approaching infinity. Along the way, we prove that crushing a normal surface in a triangulation does not increase the carving-width, and hence crushing any number of normal surfaces in a triangulation affects treewidth by at most a constant multiple.Comment: 20 pages, 12 figures. V2: Section 4 has been rewritten, as the former argument (in V1) used a construction that relied on a wrong theorem. Section 5.1 has also been adjusted to the new construction. Various other arguments have been clarifie