1,941 research outputs found
Planar graphs as L-intersection or L-contact graphs
The L-intersection graphs are the graphs that have a representation as
intersection graphs of axis parallel shapes in the plane. A subfamily of these
graphs are {L, |, --}-contact graphs which are the contact graphs of axis
parallel L, |, and -- shapes in the plane. We prove here two results that were
conjectured by Chaplick and Ueckerdt in 2013. We show that planar graphs are
L-intersection graphs, and that triangle-free planar graphs are {L, |,
--}-contact graphs. These results are obtained by a new and simple
decomposition technique for 4-connected triangulations. Our results also
provide a much simpler proof of the known fact that planar graphs are segment
intersection graphs
Compact Drawings of 1-Planar Graphs with Right-Angle Crossings and Few Bends
We study the following classes of beyond-planar graphs: 1-planar, IC-planar,
and NIC-planar graphs. These are the graphs that admit a 1-planar, IC-planar,
and NIC-planar drawing, respectively. A drawing of a graph is 1-planar if every
edge is crossed at most once. A 1-planar drawing is IC-planar if no two pairs
of crossing edges share a vertex. A 1-planar drawing is NIC-planar if no two
pairs of crossing edges share two vertices. We study the relations of these
beyond-planar graph classes (beyond-planar graphs is a collective term for the
primary attempts to generalize the planar graphs) to right-angle crossing (RAC)
graphs that admit compact drawings on the grid with few bends. We present four
drawing algorithms that preserve the given embeddings. First, we show that
every -vertex NIC-planar graph admits a NIC-planar RAC drawing with at most
one bend per edge on a grid of size . Then, we show that
every -vertex 1-planar graph admits a 1-planar RAC drawing with at most two
bends per edge on a grid of size . Finally, we make two
known algorithms embedding-preserving; for drawing 1-planar RAC graphs with at
most one bend per edge and for drawing IC-planar RAC graphs straight-line
Time-optimal Coordination of Mobile Robots along Specified Paths
In this paper, we address the problem of time-optimal coordination of mobile
robots under kinodynamic constraints along specified paths. We propose a novel
approach based on time discretization that leads to a mixed-integer linear
programming (MILP) formulation. This problem can be solved using
general-purpose MILP solvers in a reasonable time, resulting in a
resolution-optimal solution. Moreover, unlike previous work found in the
literature, our formulation allows an exact linear modeling (up to the
discretization resolution) of second-order dynamic constraints. Extensive
simulations are performed to demonstrate the effectiveness of our approach.Comment: Published in 2016 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS
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