Inapproximability of the Standard Pebble Game and Hard to Pebble Graphs

Pebble games are single-player games on DAGs involving placing and moving pebbles on nodes of the graph according to a certain set of rules. The goal is to pebble a set of target nodes using a minimum number of pebbles. In this paper, we present a possibly simpler proof of the result in [CLNV15] and strengthen the result to show that it is PSPACE-hard to determine the minimum number of pebbles to an additive $n^{1/3-\epsilon}$ term for all $\epsilon > 0$, which improves upon the currently known additive constant hardness of approximation [CLNV15] in the standard pebble game. We also introduce a family of explicit, constant indegree graphs with $n$ nodes where there exists a graph in the family such that using constant $k$ pebbles requires $\Omega(n^k)$ moves to pebble in both the standard and black-white pebble games. This independently answers an open question summarized in [Nor15] of whether a family of DAGs exists that meets the upper bound of $O(n^k)$ moves using constant $k$ pebbles with a different construction than that presented in [AdRNV17].Comment: Preliminary version in WADS 201

k-Color Multi-Robot Motion Planning

We present a simple and natural extension of the multi-robot motion planning problem where the robots are partitioned into groups (colors), such that in each group the robots are interchangeable. Every robot is no longer required to move to a specific target, but rather to some target placement that is assigned to its group. We call this problem k-color multi-robot motion planning and provide a sampling-based algorithm specifically designed for solving it. At the heart of the algorithm is a novel technique where the k-color problem is reduced to several discrete multi-robot motion planning problems. These reductions amplify basic samples into massive collections of free placements and paths for the robots. We demonstrate the performance of the algorithm by an implementation for the case of disc robots and polygonal robots translating in the plane. We show that the algorithm successfully and efficiently copes with a variety of challenging scenarios, involving many robots, while a simplified version of this algorithm, that can be viewed as an extension of a prevalent sampling-based algorithm for the k-color case, fails even on simple scenarios. Interestingly, our algorithm outperforms a well established implementation of PRM for the standard multi-robot problem, in which each robot has a distinct color.Comment: 2

Monotone Grid Drawings of Planar Graphs

A monotone drawing of a planar graph $G$ is a planar straight-line drawing of $G$ where a monotone path exists between every pair of vertices of $G$ in some direction. Recently monotone drawings of planar graphs have been proposed as a new standard for visualizing graphs. A monotone drawing of a planar graph is a monotone grid drawing if every vertex in the drawing is drawn on a grid point. In this paper we study monotone grid drawings of planar graphs in a variable embedding setting. We show that every connected planar graph of $n$ vertices has a monotone grid drawing on a grid of size $O(n)\times O(n^2)$, and such a drawing can be found in O(n) time

Busy Beaver Scores and Alphabet Size

We investigate the Busy Beaver Game introduced by Rado (1962) generalized to non-binary alphabets. Harland (2016) conjectured that activity (number of steps) and productivity (number of non-blank symbols) of candidate machines grow as the alphabet size increases. We prove this conjecture for any alphabet size under the condition that the number of states is sufficiently large. For the measure activity we show that increasing the alphabet size from two to three allows an increase. By a classical construction it is even possible to obtain a two-state machine increasing activity and productivity of any machine if we allow an alphabet size depending on the number of states of the original machine. We also show that an increase of the alphabet by a factor of three admits an increase of activity

On the Hierarchy of Block Deterministic Languages

A regular language is $k$-lookahead deterministic (resp. $k$-block deterministic) if it is specified by a $k$-lookahead deterministic (resp. $k$-block deterministic) regular expression. These two subclasses of regular languages have been respectively introduced by Han and Wood ($k$-lookahead determinism) and by Giammarresi et al. ($k$-block determinism) as a possible extension of one-unambiguous languages defined and characterized by Br\"uggemann-Klein and Wood. In this paper, we study the hierarchy and the inclusion links of these families. We first show that each $k$-block deterministic language is the alphabetic image of some one-unambiguous language. Moreover, we show that the conversion from a minimal DFA of a $k$-block deterministic regular language to a $k$-block deterministic automaton not only requires state elimination, and that the proof given by Han and Wood of a proper hierarchy in $k$-block deterministic languages based on this result is erroneous. Despite these results, we show by giving a parameterized family that there is a proper hierarchy in $k$-block deterministic regular languages. We also prove that there is a proper hierarchy in $k$-lookahead deterministic regular languages by studying particular properties of unary regular expressions. Finally, using our valid results, we confirm that the family of $k$-block deterministic regular languages is strictly included into the one of $k$-lookahead deterministic regular languages by showing that any $k$-block deterministic unary language is one-unambiguous

The Galois Complexity of Graph Drawing: Why Numerical Solutions are Ubiquitous for Force-Directed, Spectral, and Circle Packing Drawings

Many well-known graph drawing techniques, including force directed drawings, spectral graph layouts, multidimensional scaling, and circle packings, have algebraic formulations. However, practical methods for producing such drawings ubiquitously use iterative numerical approximations rather than constructing and then solving algebraic expressions representing their exact solutions. To explain this phenomenon, we use Galois theory to show that many variants of these problems have solutions that cannot be expressed by nested radicals or nested roots of low-degree polynomials. Hence, such solutions cannot be computed exactly even in extended computational models that include such operations.Comment: Graph Drawing 201

A Planarity Test via Construction Sequences

Optimal linear-time algorithms for testing the planarity of a graph are well-known for over 35 years. However, these algorithms are quite involved and recent publications still try to give simpler linear-time tests. We give a simple reduction from planarity testing to the problem of computing a certain construction of a 3-connected graph. The approach is different from previous planarity tests; as key concept, we maintain a planar embedding that is 3-connected at each point in time. The algorithm runs in linear time and computes a planar embedding if the input graph is planar and a Kuratowski-subdivision otherwise

Maximal Sharing in the Lambda Calculus with letrec

Increasing sharing in programs is desirable to compactify the code, and to avoid duplication of reduction work at run-time, thereby speeding up execution. We show how a maximal degree of sharing can be obtained for programs expressed as terms in the lambda calculus with letrec. We introduce a notion of `maximal compactness' for lambda-letrec-terms among all terms with the same infinite unfolding. Instead of defined purely syntactically, this notion is based on a graph semantics. lambda-letrec-terms are interpreted as first-order term graphs so that unfolding equivalence between terms is preserved and reflected through bisimilarity of the term graph interpretations. Compactness of the term graphs can then be compared via functional bisimulation. We describe practical and efficient methods for the following two problems: transforming a lambda-letrec-term into a maximally compact form; and deciding whether two lambda-letrec-terms are unfolding-equivalent. The transformation of a lambda-letrec-term $L$ into maximally compact form $L_0$ proceeds in three steps: (i) translate L into its term graph $G = [[ L ]]$; (ii) compute the maximally shared form of $G$ as its bisimulation collapse $G_0$; (iii) read back a lambda-letrec-term $L_0$ from the term graph $G_0$ with the property $[[ L_0 ]] = G_0$. This guarantees that $L_0$ and $L$ have the same unfolding, and that $L_0$ exhibits maximal sharing. The procedure for deciding whether two given lambda-letrec-terms $L_1$ and $L_2$ are unfolding-equivalent computes their term graph interpretations $[[ L_1 ]]$ and $[[ L_2 ]]$, and checks whether these term graphs are bisimilar. For illustration, we also provide a readily usable implementation.Comment: 18 pages, plus 19 pages appendi

Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments

The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized planner - MAPP is described and applied to the task of finding trajectories for dozens UAVs performing nap-of-the-earth flight in urban environments. Results of the experimental studies provide an opportunity to claim that MAPP is a highly efficient planner for solving considered types of tasks

Linear Parsing Expression Grammars

PEGs were formalized by Ford in 2004, and have several pragmatic operators (such as ordered choice and unlimited lookahead) for better expressing modern programming language syntax. Since these operators are not explicitly defined in the classic formal language theory, it is significant and still challenging to argue PEGs' expressiveness in the context of formal language theory.Since PEGs are relatively new, there are several unsolved problems.One of the problems is revealing a subclass of PEGs that is equivalent to DFAs. This allows application of some techniques from the theory of regular grammar to PEGs. In this paper, we define Linear PEGs (LPEGs), a subclass of PEGs that is equivalent to DFAs. Surprisingly, LPEGs are formalized by only excluding some patterns of recursive nonterminal in PEGs, and include the full set of ordered choice, unlimited lookahead, and greedy repetition, which are characteristic of PEGs. Although the conversion judgement of parsing expressions into DFAs is undecidable in general, the formalism of LPEGs allows for a syntactical judgement of parsing expressions.Comment: Parsing expression grammars, Boolean finite automata, Packrat parsin