Connectivity of Graphs Induced by Directional Antennas

This paper addresses the problem of finding an orientation and a minimum radius for directional antennas of a fixed angle placed at the points of a planar set S, that induce a strongly connected communication graph. We consider problem instances in which antenna angles are fixed at 90 and 180 degrees, and establish upper and lower bounds for the minimum radius necessary to guarantee strong connectivity. In the case of 90-degree angles, we establish a lower bound of 2 and an upper bound of 7. In the case of 180-degree angles, we establish a lower bound of sqrt(3) and an upper bound of 1+sqrt(3). Underlying our results is the assumption that the unit disk graph for S is connected.Comment: 8 pages, 10 figure

Collective Construction of 2D Block Structures with Holes

In this paper we present algorithms for collective construction systems in which a large number of autonomous mobile robots trans- port modular building elements to construct a desired structure. We focus on building block structures subject to some physical constraints that restrict the order in which the blocks may be attached to the structure. Specifically, we determine a partial ordering on the blocks such that if they are attached in accordance with this ordering, then (i) the structure is a single, connected piece at all intermediate stages of construction, and (ii) no block is attached between two other previously attached blocks, since such a space is too narrow for a robot to maneuver a block into it. Previous work has consider this problem for building 2D structures without holes. Here we extend this work to 2D structures with holes. We accomplish this by modeling the problem as a graph orientation problem and describe an O(n^2) algorithm for solving it. We also describe how this partial ordering may be used in a distributed fashion by the robots to coordinate their actions during the building process.Comment: 13 pages, 3 figure

Unfolding Orthogrids with Constant Refinement

We define a new class of orthogonal polyhedra, called orthogrids, that can be unfolded without overlap with constant refinement of the gridded surface.Comment: 19 pages, 12 figure

Epsilon-Unfolding Orthogonal Polyhedra

An unfolding of a polyhedron is produced by cutting the surface and flattening to a single, connected, planar piece without overlap (except possibly at boundary points). It is a long unsolved problem to determine whether every polyhedron may be unfolded. Here we prove, via an algorithm, that every orthogonal polyhedron (one whose faces meet at right angles) of genus zero may be unfolded. Our cuts are not necessarily along edges of the polyhedron, but they are always parallel to polyhedron edges. For a polyhedron of n vertices, portions of the unfolding will be rectangular strips which, in the worst case, may need to be as thin as epsilon = 1/2^{Omega(n)}.Comment: 23 pages, 20 figures, 7 references. Revised version improves language and figures, updates references, and sharpens the conclusio

Unfolding Manhattan Towers

We provide an algorithm for unfolding the surface of any orthogonal polyhedron that falls into a particular shape class we call Manhattan Towers, to a nonoverlapping planar orthogonal polygon. The algorithm cuts along edges of a 4x5x1 refinement of the vertex grid.Comment: Full version of abstract that appeared in: Proc. 17th Canad. Conf. Comput. Geom., 2005, pp. 204--20

Grid Vertex-Unfolding Orthogonal Polyhedra

An edge-unfolding of a polyhedron is produced by cutting along edges and flattening the faces to a *net*, a connected planar piece with no overlaps. A *grid unfolding* allows additional cuts along grid edges induced by coordinate planes passing through every vertex. A vertex-unfolding permits faces in the net to be connected at single vertices, not necessarily along edges. We show that any orthogonal polyhedron of genus zero has a grid vertex-unfolding. (There are orthogonal polyhedra that cannot be vertex-unfolded, so some type of "gridding" of the faces is necessary.) For any orthogonal polyhedron P with n vertices, we describe an algorithm that vertex-unfolds P in O(n^2) time. Enroute to explaining this algorithm, we present a simpler vertex-unfolding algorithm that requires a 3 x 1 refinement of the vertex grid.Comment: Original: 12 pages, 8 figures, 11 references. Revised: 22 pages, 16 figures, 12 references. New version is a substantial revision superceding the preliminary extended abstract that appeared in Lecture Notes in Computer Science, Volume 3884, Springer, Berlin/Heidelberg, Feb. 2006, pp. 264-27

Unfolding Orthogonal Polyhedra with Quadratic Refinement: The Delta-Unfolding Algorithm

We show that every orthogonal polyhedron homeomorphic to a sphere can be unfolded without overlap while using only polynomially many (orthogonal) cuts. By contrast, the best previous such result used exponentially many cuts. More precisely, given an orthogonal polyhedron with n vertices, the algorithm cuts the polyhedron only where it is met by the grid of coordinate planes passing through the vertices, together with Theta(n^2) additional coordinate planes between every two such grid planes.Comment: 15 pages, 10 figure

Unfolding Genus-2 Orthogonal Polyhedra with Linear Refinement

We show that every orthogonal polyhedron of genus g ≤ 2 can be unfolded without overlap while using only a linear number of orthogonal cuts (parallel to the polyhedron edges). This is the first result on unfolding general orthogonal polyhedra beyond genus- 0. Our unfolding algorithm relies on the existence of at most 2 special leaves in what we call the “unfolding tree” (which ties back to the genus), so unfolding polyhedra of genus 3 and beyond requires new techniques