5,426 research outputs found
Simple Wriggling is Hard unless You Are a Fat Hippo
We prove that it is NP-hard to decide whether two points in a polygonal
domain with holes can be connected by a wire. This implies that finding any
approximation to the shortest path for a long snake amidst polygonal obstacles
is NP-hard. On the positive side, we show that snake's problem is
"length-tractable": if the snake is "fat", i.e., its length/width ratio is
small, the shortest path can be computed in polynomial time.Comment: A shorter version is to be presented at FUN 201
Collision-free path planning
Motion planning is an important challenge in robotics research. Efficient generation of collision-free motion is a fundamental capability necessary for autonomous robots;In this dissertation, a fast and practical algorithm for moving a convex polygonal robot among a set of polygonal obstacles with translations and rotations is presented. The running time is O(c((n + k)N + nlogn)), where c is a parameter controlling the precision of the results, n is the total number of obstacle vertices, k is the number of intersections of configuration space obstacles, and N is the number of obstacles, decomposed into convex objects. This dissertation exploits a simple 3D passage-network to incorporate robot rotations as an alternative to complex cell decomposition techniques or building passage networks on approximated 3D C-space obstacles;A common approach in path planning is to compute the Minkowski difference of a polygonal robot model with the polygonal obstacle environment. However such a configuration space is valid only for a single robot orientation. In this research, multiple configuration spaces are computed between the obstacle environment and the robot at successive angular orientations spanning [pi] . Although the obstacles do not intersect, each configuration space may contain intersecting configuration space obstacles (C-space obstacles). For each configuration space, the algorithm finds the contour of the intersected C-space obstacles and the associated passage network by slabbing the collision-free space. The individual configuration spaces are then related to one another by a heuristic called proper links that exploit spatial coherence. Thus, each level is connected to the adjacent levels by proper links to construct a 3D network. Dijkstra\u27s algorithm is used to search for the shortest path in the 3D network. Finally, the path is projected onto the plane to show the final locus of the path
Vertical ray shooting and computing depth orders of fat objects
We present new results for three problems dealing with a set of convex constant-complexity fat polyhedra in 3-space. (i) We describe a data structure for vertical ray shooting in that has query time and uses storage. (ii) We give an algorithm to compute in time a depth order on if it exists. (iii) We give an algorithm to verify in time whether a given order on is a valid depth order. All three results improve on previous results
Decomposition of multiple packings with subquadratic union complexity
Suppose is a positive integer and is a -fold packing of
the plane by infinitely many arc-connected compact sets, which means that every
point of the plane belongs to at most sets. Suppose there is a function
with the property that any members of determine
at most holes, which means that the complement of their union has at
most bounded connected components. We use tools from extremal graph
theory and the topological Helly theorem to prove that can be
decomposed into at most (-fold) packings, where is a constant
depending only on and .Comment: Small generalization of the main result, improvements in the proofs,
minor correction
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 simply
connected obstacles in the plane, instances of the minimum constraint removal
problem with minimum removable obstacles lower than 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
Partitioning Regular Polygons into Circular Pieces I: Convex Partitions
We explore an instance of the question of partitioning a polygon into pieces,
each of which is as ``circular'' as possible, in the sense of having an aspect
ratio close to 1. The aspect ratio of a polygon is the ratio of the diameters
of the smallest circumscribing circle to the largest inscribed disk. The
problem is rich even for partitioning regular polygons into convex pieces, the
focus of this paper. We show that the optimal (most circular) partition for an
equilateral triangle has an infinite number of pieces, with the lower bound
approachable to any accuracy desired by a particular finite partition. For
pentagons and all regular k-gons, k > 5, the unpartitioned polygon is already
optimal. The square presents an interesting intermediate case. Here the
one-piece partition is not optimal, but nor is the trivial lower bound
approachable. We narrow the optimal ratio to an aspect-ratio gap of 0.01082
with several somewhat intricate partitions.Comment: 21 pages, 25 figure
09111 Abstracts Collection -- Computational Geometry
From March 8 to March 13, 2009, the Dagstuhl Seminar 09111 ``Computational Geometry \u27\u27 was held in Schloss Dagstuhl~--~Leibniz Center for Informatics.
During the seminar, several participants presented their current
research, and ongoing work and open problems were discussed. Abstracts of
the presentations given during the seminar as well as abstracts of
seminar results and ideas are put together in this paper. The first section
describes the seminar topics and goals in general.
Links to extended abstracts or full papers are provided, if available
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