A "Piano Movers" Problem Reformulated

It has long been known that cylindrical algebraic decompositions (CADs) can in theory be used for robot motion planning. However, in practice even the simplest examples can be too complicated to tackle. We consider in detail a "Piano Mover's Problem" which considers moving an infinitesimally thin piano (or ladder) through a right-angled corridor. Producing a CAD for the original formulation of this problem is still infeasible after 25 years of improvements in both CAD theory and computer hardware. We review some alternative formulations in the literature which use differing levels of geometric analysis before input to a CAD algorithm. Simpler formulations allow CAD to easily address the question of the existence of a path. We provide a new formulation for which both a CAD can be constructed and from which an actual path could be determined if one exists, and analyse the CADs produced using this approach for variations of the problem. This emphasises the importance of the precise formulation of such problems for CAD. We analyse the formulations and their CADs considering a variety of heuristics and general criteria, leading to conclusions about tackling other problems of this form.Comment: 8 pages. Copyright IEEE 201

Combinatorial complexity in o-minimal geometry

In this paper we prove tight bounds on the combinatorial and topological complexity of sets defined in terms of $n$ definable sets belonging to some fixed definable family of sets in an o-minimal structure. This generalizes the combinatorial parts of similar bounds known in the case of semi-algebraic and semi-Pfaffian sets, and as a result vastly increases the applicability of results on combinatorial and topological complexity of arrangements studied in discrete and computational geometry. As a sample application, we extend a Ramsey-type theorem due to Alon et al., originally proved for semi-algebraic sets of fixed description complexity to this more general setting.Comment: 25 pages. Revised version. To appear in the Proc. London Math. So

A CDCL-style calculus for solving non-linear constraints

In this paper we propose a novel approach for checking satisfiability of non-linear constraints over the reals, called ksmt. The procedure is based on conflict resolution in CDCL style calculus, using a composition of symbolical and numerical methods. To deal with the non-linear components in case of conflicts we use numerically constructed restricted linearisations. This approach covers a large number of computable non-linear real functions such as polynomials, rational or trigonometrical functions and beyond. A prototypical implementation has been evaluated on several non-linear SMT-LIB examples and the results have been compared with state-of-the-art SMT solvers.Comment: 17 pages, 3 figures; accepted at FroCoS 2019; software available at <http://informatik.uni-trier.de/~brausse/ksmt/

Using cylindrical algebraic decomposition and local Fourier analysis to study numerical methods: two examples

Local Fourier analysis is a strong and well-established tool for analyzing the convergence of numerical methods for partial differential equations. The key idea of local Fourier analysis is to represent the occurring functions in terms of a Fourier series and to use this representation to study certain properties of the particular numerical method, like the convergence rate or an error estimate. In the process of applying a local Fourier analysis, it is typically necessary to determine the supremum of a more or less complicated term with respect to all frequencies and, potentially, other variables. The problem of computing such a supremum can be rewritten as a quantifier elimination problem, which can be solved with cylindrical algebraic decomposition, a well-known tool from symbolic computation. The combination of local Fourier analysis and cylindrical algebraic decomposition is a machinery that can be applied to a wide class of problems. In the present paper, we will discuss two examples. The first example is to compute the convergence rate of a multigrid method. As second example we will see that the machinery can also be used to do something rather different: We will compare approximation error estimates for different kinds of discretizations.Comment: The research was funded by the Austrian Science Fund (FWF): J3362-N2

A “piano movers” problem reformulated

Abstract-It has long been known that cylindrical algebraic decompositions (CADs) can in theory be used for robot motion planning. However, in practice even the simplest examples can be too complicated to tackle. We consider in detail a &quot;Piano Mover&apos;s Problem&quot; which considers moving an infinitesimally thin piano (or ladder) through a right-angled corridor. Producing a CAD for the original formulation of this problem is still infeasible after 25 years of improvements in both CAD theory and computer hardware. We review some alternative formulations in the literature which use differing levels of geometric analysis before input to a CAD algorithm. Simpler formulations allow CAD to easily address the question of the existence of a path. We provide a new formulation for which both a CAD can be constructed and from which an actual path could be determined if one exists, and analyse the CADs produced using this approach for variations of the problem. This emphasises the importance of the precise formulation of such problems for CAD. We analyse the formulations and their CADs considering a variety of heuristics and general criteria, leading to conclusions about tackling other problems of this form

Digital Collections of Examples in Mathematical Sciences

Some aspects of Computer Algebra (notably Computation Group Theory and Computational Number Theory) have some good databases of examples, typically of the form "all the X up to size n". But most of the others, especially on the polynomial side, are lacking such, despite the utility they have demonstrated in the related fields of SAT and SMT solving. We claim that the field would be enhanced by such community-maintained databases, rather than each author hand-selecting a few, which are often too large or error-prone to print, and therefore difficult for subsequent authors to reproduce.Comment: Presented at 8th European Congress of Mathematician

Delta-Decision Procedures for Exists-Forall Problems over the Reals

Solving nonlinear SMT problems over real numbers has wide applications in robotics and AI. While significant progress is made in solving quantifier-free SMT formulas in the domain, quantified formulas have been much less investigated. We propose the first delta-complete algorithm for solving satisfiability of nonlinear SMT over real numbers with universal quantification and a wide range of nonlinear functions. Our methods combine ideas from counterexample-guided synthesis, interval constraint propagation, and local optimization. In particular, we show how special care is required in handling the interleaving of numerical and symbolic reasoning to ensure delta-completeness. In experiments, we show that the proposed algorithms can handle many new problems beyond the reach of existing SMT solvers