1,018 research outputs found
Practical Distance Functions for Path-Planning in Planar Domains
Path planning is an important problem in robotics. One way to plan a path
between two points within a (not necessarily simply-connected) planar
domain , is to define a non-negative distance function on
such that following the (descending) gradient of this
distance function traces such a path. This presents two equally important
challenges: A mathematical challenge -- to define such that has a
single minimum for any fixed (and this is when ), since a local
minimum is in effect a "dead end", A computational challenge -- to define
such that it may be computed efficiently. In this paper, given a description of
, we show how to assign coordinates to each point of and
define a family of distance functions between points using these coordinates,
such that both the mathematical and the computational challenges are met. This
is done using the concepts of \emph{harmonic measure} and
\emph{-divergences}.
In practice, path planning is done on a discrete network defined on a finite
set of \emph{sites} sampled from , so any method that works well on the
continuous domain must be adapted so that it still works well on the discrete
domain. Given a set of sites sampled from , we show how to define a
network connecting these sites such that a \emph{greedy routing} algorithm
(which is the discrete equivalent of continuous gradient descent) based on the
distance function mentioned above is guaranteed to generate a path in the
network between any two such sites. In many cases, this network is close to a
(desirable) planar graph, especially if the set of sites is dense
A Fast Algorithm for Well-Spaced Points and Approximate Delaunay Graphs
We present a new algorithm that produces a well-spaced superset of points
conforming to a given input set in any dimension with guaranteed optimal output
size. We also provide an approximate Delaunay graph on the output points. Our
algorithm runs in expected time , where is the
input size, is the output point set size, and is the ambient dimension.
The constants only depend on the desired element quality bounds.
To gain this new efficiency, the algorithm approximately maintains the
Voronoi diagram of the current set of points by storing a superset of the
Delaunay neighbors of each point. By retaining quality of the Voronoi diagram
and avoiding the storage of the full Voronoi diagram, a simple exponential
dependence on is obtained in the running time. Thus, if one only wants the
approximate neighbors structure of a refined Delaunay mesh conforming to a set
of input points, the algorithm will return a size graph in
expected time. If is superlinear in , then we
can produce a hierarchically well-spaced superset of size in
expected time.Comment: Full versio
Anisotropic Mesh Adaptation for Image Representation
Triangular meshes have gained much interest in image representation and have
been widely used in image processing. This paper introduces a framework of
anisotropic mesh adaptation (AMA) methods to image representation and proposes
a GPRAMA method that is based on AMA and greedy-point removal (GPR) scheme.
Different than many other methods that triangulate sample points to form the
mesh, the AMA methods start directly with a triangular mesh and then adapt the
mesh based on a user-defined metric tensor to represent the image. The AMA
methods have clear mathematical framework and provides flexibility for both
image representation and image reconstruction. A mesh patching technique is
developed for the implementation of the GPRAMA method, which leads to an
improved version of the popular GPRFS-ED method. The GPRAMA method can achieve
better quality than the GPRFS-ED method but with lower computational cost.Comment: 25 pages, 15 figure
Gabriel Triangulations and Angle-Monotone Graphs: Local Routing and Recognition
A geometric graph is angle-monotone if every pair of vertices has a path
between them that---after some rotation---is - and -monotone.
Angle-monotone graphs are -spanners and they are increasing-chord
graphs. Dehkordi, Frati, and Gudmundsson introduced angle-monotone graphs in
2014 and proved that Gabriel triangulations are angle-monotone graphs. We give
a polynomial time algorithm to recognize angle-monotone geometric graphs. We
prove that every point set has a plane geometric graph that is generalized
angle-monotone---specifically, we prove that the half--graph is
generalized angle-monotone. We give a local routing algorithm for Gabriel
triangulations that finds a path from any vertex to any vertex whose
length is within times the Euclidean distance from to .
Finally, we prove some lower bounds and limits on local routing algorithms on
Gabriel triangulations.Comment: Appears in the Proceedings of the 24th International Symposium on
Graph Drawing and Network Visualization (GD 2016
Aspects of Unstructured Grids and Finite-Volume Solvers for the Euler and Navier-Stokes Equations
One of the major achievements in engineering science has been the development of computer algorithms for solving nonlinear differential equations such as the Navier-Stokes equations. In the past, limited computer resources have motivated the development of efficient numerical schemes in computational fluid dynamics (CFD) utilizing structured meshes. The use of structured meshes greatly simplifies the implementation of CFD algorithms on conventional computers. Unstructured grids on the other hand offer an alternative to modeling complex geometries. Unstructured meshes have irregular connectivity and usually contain combinations of triangles, quadrilaterals, tetrahedra, and hexahedra. The generation and use of unstructured grids poses new challenges in CFD. The purpose of this note is to present recent developments in the unstructured grid generation and flow solution technology
Minimum-weight triangulation is NP-hard
A triangulation of a planar point set S is a maximal plane straight-line
graph with vertex set S. In the minimum-weight triangulation (MWT) problem, we
are looking for a triangulation of a given point set that minimizes the sum of
the edge lengths. We prove that the decision version of this problem is
NP-hard. We use a reduction from PLANAR-1-IN-3-SAT. The correct working of the
gadgets is established with computer assistance, using dynamic programming on
polygonal faces, as well as the beta-skeleton heuristic to certify that certain
edges belong to the minimum-weight triangulation.Comment: 45 pages (including a technical appendix of 13 pages), 28 figures.
This revision contains a few improvements in the expositio
JIGSAW-GEO (1.0): locally orthogonal staggered unstructured grid generation for general circulation modelling on the sphere
An algorithm for the generation of non-uniform, locally-orthogonal staggered
unstructured spheroidal grids is described. This technique is designed to
generate very high-quality staggered Voronoi/Delaunay meshes appropriate for
general circulation modelling on the sphere, including applications to
atmospheric simulation, ocean-modelling and numerical weather prediction. Using
a recently developed Frontal-Delaunay refinement technique, a method for the
construction of high-quality unstructured spheroidal Delaunay triangulations is
introduced. A locally-orthogonal polygonal grid, derived from the associated
Voronoi diagram, is computed as the staggered dual. It is shown that use of the
Frontal-Delaunay refinement technique allows for the generation of very
high-quality unstructured triangulations, satisfying a-priori bounds on element
size and shape. Grid-quality is further improved through the application of
hill-climbing type optimisation techniques. Overall, the algorithm is shown to
produce grids with very high element quality and smooth grading
characteristics, while imposing relatively low computational expense. A
selection of uniform and non-uniform spheroidal grids appropriate for
high-resolution, multi-scale general circulation modelling are presented. These
grids are shown to satisfy the geometric constraints associated with
contemporary unstructured C-grid type finite-volume models, including the Model
for Prediction Across Scales (MPAS-O). The use of user-defined mesh-spacing
functions to generate smoothly graded, non-uniform grids for multi-resolution
type studies is discussed in detail.Comment: Final revisions, as per: Engwirda, D.: JIGSAW-GEO (1.0): locally
orthogonal staggered unstructured grid generation for general circulation
modelling on the sphere, Geosci. Model Dev., 10, 2117-2140,
https://doi.org/10.5194/gmd-10-2117-2017, 201
A Sparse Delaunay Filtration
We show how a filtration of Delaunay complexes can be used to approximate the persistence diagram of the distance to a point set in ?^d. Whereas the full Delaunay complex can be used to compute this persistence diagram exactly, it may have size O(n^?d/2?). In contrast, our construction uses only O(n) simplices. The central idea is to connect Delaunay complexes on progressively denser subsamples by considering the flips in an incremental construction as simplices in d+1 dimensions. This approach leads to a very simple and straightforward proof of correctness in geometric terms, because the final filtration is dual to a (d+1)-dimensional Voronoi construction similar to the standard Delaunay filtration. We also, show how this complex can be efficiently constructed
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