The Four Bars Problem

A four-bar linkage is a mechanism consisting of four rigid bars which are joined by their endpoints in a polygonal chain and which can rotate freely at the joints (or vertices). We assume that the linkage lies in the 2-dimensional plane so that one of the bars is held horizontally fixed. In this paper we consider the problem of reconfiguring a four-bar linkage using an operation called a \emph{pop}. Given a polygonal cycle, a pop reflects a vertex across the line defined by its two adjacent vertices along the polygonal chain. Our main result shows that for certain conditions on the lengths of the bars of the four-bar linkage, the neighborhood of any configuration that can be reached by smooth motion can also be reached by pops. The proof relies on the fact that pops are described by a map on the circle with an irrational number of rotation.Comment: 18 page

Efficient Multi-Robot Coverage of a Known Environment

This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks, using multiple robots can increase the efficiency of the area coverage in terms of minimizing the operational time and increase the robustness in the face of robot attrition. Unfortunately, the problem of finding an optimal solution for such an area coverage problem with multiple robots is known to be NP-complete. In this paper we present two approximation heuristics for solving the multi-robot coverage problem. The first solution presented is a direct extension of an efficient single robot area coverage algorithm, based on an exact cellular decomposition. The second algorithm is a greedy approach that divides the area into equal regions and applies an efficient single-robot coverage algorithm to each region. We present experimental results for two algorithms. Results indicate that our approaches provide good coverage distribution between robots and minimize the workload per robot, meanwhile ensuring complete coverage of the area.Comment: In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 201

Colorful Strips

Given a planar point set and an integer $k$, we wish to color the points with $k$ colors so that any axis-aligned strip containing enough points contains all colors. The goal is to bound the necessary size of such a strip, as a function of $k$. We show that if the strip size is at least $2k{-}1$, such a coloring can always be found. We prove that the size of the strip is also bounded in any fixed number of dimensions. In contrast to the planar case, we show that deciding whether a 3D point set can be 2-colored so that any strip containing at least three points contains both colors is NP-complete. We also consider the problem of coloring a given set of axis-aligned strips, so that any sufficiently covered point in the plane is covered by $k$ colors. We show that in $d$ dimensions the required coverage is at most $d(k{-}1)+1$. Lower bounds are given for the two problems. This complements recent impossibility results on decomposition of strip coverings with arbitrary orientations. Finally, we study a variant where strips are replaced by wedges

Theta-3 is connected

In this paper, we show that the $\theta$-graph with three cones is connected. We also provide an alternative proof of the connectivity of the Yao graph with three cones.Comment: 11 pages, to appear in CGT

The Distance Geometry of Music

We demonstrate relationships between the classic Euclidean algorithm and many other fields of study, particularly in the context of music and distance geometry. Specifically, we show how the structure of the Euclidean algorithm defines a family of rhythms which encompass over forty timelines (\emph{ostinatos}) from traditional world music. We prove that these \emph{Euclidean rhythms} have the mathematical property that their onset patterns are distributed as evenly as possible: they maximize the sum of the Euclidean distances between all pairs of onsets, viewing onsets as points on a circle. Indeed, Euclidean rhythms are the unique rhythms that maximize this notion of \emph{evenness}. We also show that essentially all Euclidean rhythms are \emph{deep}: each distinct distance between onsets occurs with a unique multiplicity, and these multiplicies form an interval $1,2,...,k-1$. Finally, we characterize all deep rhythms, showing that they form a subclass of generated rhythms, which in turn proves a useful property called shelling. All of our results for musical rhythms apply equally well to musical scales. In addition, many of the problems we explore are interesting in their own right as distance geometry problems on the circle; some of the same problems were explored by Erd\H{o}s in the plane.Comment: This is the full version of the paper: "The distance geometry of deep rhythms and scales." 17th Canadian Conference on Computational Geometry (CCCG '05), University of Windsor, Canada, 200

Orderly broadcasting in multidimensional tori

In this thesis, we describe an ordering of the vertices of a multidimensional torus and study the upper bound on the orderly broadcast time. Along with messy broadcasting, orderly broadcasting is another model where the nodes of the network have limited knowledge about their local neighborhood. However, while messy broadcasting explores the worst-case performance of broadcast schemes, orderly broadcasting, like the classical broadcast model, is concerned with finding an ordering of the vertices of a graph that will minimize the overall broadcast time

Continuous Yao Graphs

In this paper, we introduce a variation of the well-studied Yao graphs. Given a set of points $S\subset \mathbb{R}^2$ and an angle $0 < \theta \leq 2\pi$, we define the continuous Yao graph $cY(\theta)$ with vertex set $S$ and angle $\theta$ as follows. For each $p,q\in S$, we add an edge from $p$ to $q$ in $cY(\theta)$ if there exists a cone with apex $p$ and aperture $\theta$ such that $q$ is the closest point to $p$ inside this cone. We study the spanning ratio of $cY(\theta)$ for different values of $\theta$. Using a new algebraic technique, we show that $cY(\theta)$ is a spanner when $\theta \leq 2\pi /3$. We believe that this technique may be of independent interest. We also show that $cY(\pi)$ is not a spanner, and that $cY(\theta)$ may be disconnected for $\theta > \pi$.Comment: 7 pages, 7 figures. Presented at CCCG 201