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26
Polygon Decomposition for Efficient Construction of Minkowski Sums
, 2000
"... Several algorithms for computing the Minkowski sum of two polygons in the plane begin by decomposing each polygon into convex subpolygons. We examine different methods for decomposing polygons by their suitability for efficient construction of Minkowski sums. We study and experiment with various ..."
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Cited by 40 (7 self)
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Several algorithms for computing the Minkowski sum of two polygons in the plane begin by decomposing each polygon into convex subpolygons. We examine different methods for decomposing polygons by their suitability for efficient construction of Minkowski sums. We study and experiment with various wellknown decompositions as well as with several new decomposition schemes. We report on our experiments with various decompositions and different input polygons. Among our findings are that in general: (i) triangulations are too costly (ii) what constitutes a good decomposition for one of the input polygons depends on the other input polygon  consequently, we develop a procedure for simultaneously decomposing the two polygons such that a "mixed" objective function is minimized, (iii) there are optimal decomposition algorithms that significantly expedite the Minkowskisum computation, but the decomposition itself is expensive to compute  in such cases simple heuristics that approximate the optimal decomposition perform very well.
Highlevel filtering for arrangements of conic arcs
 In Proc. ESA 2002
, 2002
"... Abstract. Many computational geometry algorithms involve the construction and maintenance of planar arrangements of conic arcs. Implementing a general, robust arrangement package for conic arcs handles most practical cases of planar arrangements covered in literature. A possible approach for impleme ..."
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Cited by 33 (9 self)
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Abstract. Many computational geometry algorithms involve the construction and maintenance of planar arrangements of conic arcs. Implementing a general, robust arrangement package for conic arcs handles most practical cases of planar arrangements covered in literature. A possible approach for implementing robust geometric algorithms is to use exact algebraic number types — yet this may lead to a very slow, inefficient program. In this paper we suggest a simple technique for filtering the computations involved in the arrangement construction: when constructing an arrangement vertex, we keep track of the steps that lead to its construction and the equations we need to solve to obtain its coordinates. This construction history can be used for answering predicates very efficiently, compared to a naïve implementation with an exact number type. Furthermore, using this representation most arrangement vertices may be computed approximately at first and can be refined later on in cases of ambiguity. Since such cases are relatively rare, the resulting implementation is both efficient and robust. 1
Advanced programming techniques applied to Cgal’s arrangement package
 Computational Geometry: Theory and Applications
, 2005
"... Arrangements of planar curves are fundamental structures in computational geometry. Recently, the arrangement package of Cgal, the Computational Geometry Algorithms Library, has been redesigned and reimplemented exploiting several advanced programming techniques. The resulting software package, whi ..."
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Cited by 31 (15 self)
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Arrangements of planar curves are fundamental structures in computational geometry. Recently, the arrangement package of Cgal, the Computational Geometry Algorithms Library, has been redesigned and reimplemented exploiting several advanced programming techniques. The resulting software package, which constructs and maintains planar arrangements, is easier to use, to extend, and to adapt to a variety of applications. It is more efficient space and timewise, and more robust. The implementation is complete in the sense that it handles degenerate input, and it produces exact results. In this paper we describe how various programming techniques were used to accomplish specific tasks within the context of computational geometry in general and Arrangements in particular. These tasks are exemplified by several applications, whose robust implementation is based on the arrangement package. Together with a set of benchmarks they assured the successful application of the adverted programming techniques. 1
Exacus: Efficient and exact algorithms for curves and surfaces
 IN ESA, VOLUME 1669 OF LNCS
, 2005
"... We present the first release of the EXACUS C++ libraries. We aim for systematic support of nonlinear geometry in software libraries. Our goals are efficiency, correctness, completeness, clarity of the design, modularity, flexibility, and ease of use. We present the generic design and structure of ..."
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Cited by 30 (12 self)
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We present the first release of the EXACUS C++ libraries. We aim for systematic support of nonlinear geometry in software libraries. Our goals are efficiency, correctness, completeness, clarity of the design, modularity, flexibility, and ease of use. We present the generic design and structure of the libraries, which currently compute arrangements of curves and curve segments of low algebraic degree, and boolean operations on polygons bounded by such segments.
A computational basis for conic arcs and Boolean operations on conic polygons
 IN ESA 2002, LNCS 2461
, 2002
"... We give an exact geometry kernel for conic arcs, algorithms for exact computation with lowdegree algebraic numbers, and an algorithm for computing the arrangement of conic arcs that immediately leads to a realization of regularized boolean operations on conic polygons. A conic polygon, or polygon ..."
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Cited by 29 (15 self)
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We give an exact geometry kernel for conic arcs, algorithms for exact computation with lowdegree algebraic numbers, and an algorithm for computing the arrangement of conic arcs that immediately leads to a realization of regularized boolean operations on conic polygons. A conic polygon, or polygon for short, is anything that can be obtained from linear or conic halfspaces ( = the set of points where a linear or quadratic function is nonnegative) by regularized boolean operations. The algorithm and its implementation are complete (they can handle all cases), exact (they give the mathematically correct result), and efficient (they can handle inputs with several hundred primitives).
Robust Geometric Computing in Motion
, 2000
"... In this paper we discuss the gap between the theory and practice of geometric algorithms. We then describe effors to settle this gap and facilitate the successful implementation of geometric algorithms in general and of algorithms for geometric arrangements and motion planning in particular. ..."
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Cited by 24 (2 self)
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In this paper we discuss the gap between the theory and practice of geometric algorithms. We then describe effors to settle this gap and facilitate the successful implementation of geometric algorithms in general and of algorithms for geometric arrangements and motion planning in particular.
Robust and efficient construction of planar Minkowski sums
, 2000
"... The Minkowski sum (also known as the vector sum) of two sets P and Q in IR 2 is the set fp + q j p 2 P; q 2 Qg. Minkowski sums are useful in robot motion planning, computeraided design and manufacturing (CAD/CAM) and many other areas. We present a software package for robust and efficient construct ..."
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Cited by 23 (2 self)
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The Minkowski sum (also known as the vector sum) of two sets P and Q in IR 2 is the set fp + q j p 2 P; q 2 Qg. Minkowski sums are useful in robot motion planning, computeraided design and manufacturing (CAD/CAM) and many other areas. We present a software package for robust and efficient construction of Minkowski sums of planar polygonal sets. We describe the different algorithms that we implemented and an experimental comparison between them. A distinctive feature of our implementation is that it can accurately handle degenerate input and in particular it can identify degenerate "holes" in the
Code flexibility and program efficiency by genericity: Improving cgal’s arrangements
 In Proc. 12th Annu. Euro. Sympos. Alg
, 2004
"... Abstract. Arrangements of planar curves are fundamental structures in computational geometry. We describe the recent developments in the arrangement package of Cgal, the Computational Geometry Algorithms Library, making it easier to use, to extend and to adapt to a variety of applications. This impr ..."
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Cited by 19 (13 self)
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Abstract. Arrangements of planar curves are fundamental structures in computational geometry. We describe the recent developments in the arrangement package of Cgal, the Computational Geometry Algorithms Library, making it easier to use, to extend and to adapt to a variety of applications. This improved flexibility of the code does not come at the expense of efficiency as we mainly use genericprogramming techniques, which make dexterous use of the compilation process. To the contrary, we expedited key operations as we demonstrate by experiments. 1
Hybrid Motion Planning: Coordinating Two Discs Moving Among Polygonal Obstacles in the Plane
 Algorithmic Foundations of Robotics V
, 2002
"... The basic motionplanning problem is to plan a collisionfree motion for an object moving among obstacles between free initial and goal positions, or to determine that no such motion exists. The basic problem as well as numerous variants of it have been intensively studied over the past two decades ..."
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Cited by 18 (3 self)
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The basic motionplanning problem is to plan a collisionfree motion for an object moving among obstacles between free initial and goal positions, or to determine that no such motion exists. The basic problem as well as numerous variants of it have been intensively studied over the past two decades yielding a wealth of results and techniques, both theoretical and practical. In this paper, we propose a novel approach to motion planning, hybrid motion planning, in which we integrate complete solutions along with probabilistic roadmap (PRM) methods in order to combine their strengths and oset their weaknesses. We incorporate robust tools, that have not been available before, in order to implement the complete solutions. We exemplify our approach in the case of two discs moving among polygonal obstacles in the plane. The planner we present easily solves problems where a narrow passage in the workspace can be arbitrarily small. Our planner is also capable of providing correct nontrivial \no" answers, namely it can, for some queries, detect the situation where no solution exists. We envision our planner not as a total solution but rather as a new tool that cooperates with existing planners. We demonstrate the advantages and shortcomings of our planner with experimental results.
Complete, exact, and efficient computations with cubic curves
 In Proc. 20th Annu. ACM Symp. Comput. Geom
, 2004
"... The BentleyOttmann sweepline method can be used to compute the arrangement of planar curves provided a number of geometric primitives operating on the curves are available. We discuss the mathematics of the primitives for planar algebraic curves of degree three or less and derive efficient realiza ..."
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Cited by 17 (6 self)
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The BentleyOttmann sweepline method can be used to compute the arrangement of planar curves provided a number of geometric primitives operating on the curves are available. We discuss the mathematics of the primitives for planar algebraic curves of degree three or less and derive efficient realizations. As a result, we obtain a complete, exact, and efficient algorithm for computing arrangements of cubic curves. Conics and cubic splines are special cases of cubic curves. The algorithm is complete in that it handles all possible degeneracies including singularities. It is exact in that it provides the mathematically correct result. It is efficient in that it can handle hundreds of curves with a quarter million of segments in the final arrangement.