How to Navigate Through Obstacles?

Given a set of obstacles and two points in the plane, is there a path between the two points that does not cross more than k different obstacles? This is a fundamental problem that has undergone a tremendous amount of work by researchers in various areas, including computational geometry, graph theory, wireless computing, and motion planning. It is known to be NP-hard, even when the obstacles are very simple geometric shapes (e.g., unit-length line segments). The problem can be formulated and generalized into the following graph problem: Given a planar graph G whose vertices are colored by color sets, two designated vertices s, t in V(G), and k in N, is there an s-t path in G that uses at most k colors? If each obstacle is connected, the resulting graph satisfies the color-connectivity property, namely that each color induces a connected subgraph. We study the complexity and design algorithms for the above graph problem with an eye on its geometric applications. We prove a set of hardness results, among which a result showing that the color-connectivity property is crucial for any hope for fixed-parameter tractable (FPT) algorithms, as without it, the problem is W[SAT]-hard parameterized by k. Previous results only implied that the problem is W[2]-hard. A corollary of this result is that, unless W[2] = FPT, the problem cannot be approximated in FPT time to within a factor that is a function of k. By describing a generic plane embedding of the graph instances, we show that our hardness results translate to the geometric instances of the problem. We then focus on graphs satisfying the color-connectivity property. By exploiting the planarity of the graph and the connectivity of the colors, we develop topological results that allow us to prove that, for any vertex v, there exists a set of paths whose cardinality is upper bounded by a function of k, that "represents" the valid s-t paths containing subsets of colors from v. We employ these structural results to design an FPT algorithm for the problem parameterized by both k and the treewidth of the graph, and extend this result further to obtain an FPT algorithm for the parameterization by both k and the length of the path. The latter result generalizes and explains previous FPT results for various obstacle shapes, such as unit disks and fat regions

Revisiting the Minimum Constraint Removal Problem in Mobile Robotics

The minimum constraint removal problem seeks to find the minimum number of constraints, i.e., obstacles, that need to be removed to connect a start to a goal location with a collision-free path. This problem is NP-hard and has been studied in robotics, wireless sensing, and computational geometry. This work contributes to the existing literature by presenting and discussing two results. The first result shows that the minimum constraint removal is NP-hard for simply connected obstacles where each obstacle intersects a constant number of other obstacles. The second result demonstrates that for $n$ simply connected obstacles in the plane, instances of the minimum constraint removal problem with minimum removable obstacles lower than $(n+1)/3$ can be solved in polynomial time. This result is also empirically validated using several instances of randomly sampled axis-parallel rectangles.Comment: Accepted for presentation at the 18th international conference on Intelligent Autonomous System 202

Improved Approximation Bounds for the Minimum Constraint Removal Problem

In the minimum constraint removal problem, we are given a set of geometric objects as obstacles in the plane, and we want to find the minimum number of obstacles that must be removed to reach a target point t from the source point s by an obstacle-free path. The problem is known to be intractable, and (perhaps surprisingly) no sub-linear approximations are known even for simple obstacles such as rectangles and disks. The main result of our paper is a new approximation technique that gives O(sqrt{n})-approximation for rectangles, disks as well as rectilinear polygons. The technique also gives O(sqrt{n})-approximation for the minimum color path problem in graphs. We also present some inapproximability results for the geometric constraint removal problem

Teacher Attrition, Retention, and Preservice Preparation

The purpose of this study was to investigate whether teacher preparation programs are equipping preservice teachers for responsiveness to principal leadership styles and the impact on teacher perceived organizational fit. Determining whether preservice programs prepare teachers for the dynamics of the school environment could be beneficial in improving retention and attrition. A qualitative design was utilized to gather data through interviews with instructors, students, and alumni of a teacher preparation program in the Midwest. Syllabi and coursework were analyzed for incorporation of preparation for responsiveness to diverse leadership styles