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22
Random Sampling, Halfspace Range Reporting, and Construction of (≤k)Levels in Three Dimensions
 SIAM J. COMPUT
, 1999
"... Given n points in three dimensions, we show how to answer halfspace range reporting queries in O(logn+k) expected time for an output size k. Our data structure can be preprocessed in optimal O(n log n) expected time. We apply this result to obtain the first optimal randomized algorithm for the co ..."
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Cited by 33 (7 self)
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Given n points in three dimensions, we show how to answer halfspace range reporting queries in O(logn+k) expected time for an output size k. Our data structure can be preprocessed in optimal O(n log n) expected time. We apply this result to obtain the first optimal randomized algorithm for the construction of the ( k)level in an arrangement of n planes in three dimensions. The algorithm runs in O(n log n+nk²) expected time. Our techniques are based on random sampling. Applications in two dimensions include an improved data structure for "k nearest neighbors" queries, and an algorithm that constructs the orderk Voronoi diagram in O(n log n + nk log k) expected time.
On Levels in Arrangements of Curves
 Proc. 41st IEEE
, 2002
"... Analyzing the worstcase complexity of the klevel in a planar arrangement of n curves is a fundamental problem in combinatorial geometry. We give the first subquadratic upper bound (roughly O(nk 9 2 s 3 )) for curves that are graphs of polynomial functions of an arbitrary fixed degree s. Previously ..."
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Cited by 23 (3 self)
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Analyzing the worstcase complexity of the klevel in a planar arrangement of n curves is a fundamental problem in combinatorial geometry. We give the first subquadratic upper bound (roughly O(nk 9 2 s 3 )) for curves that are graphs of polynomial functions of an arbitrary fixed degree s. Previously, nontrivial results were known only for the case s = 1 and s = 2. We also improve the earlier bound for pseudoparabolas (curves that pairwise intersect at most twice) to O(nk k). The proofs are simple and rely on a theorem of Tamaki and Tokuyama on cutting pseudoparabolas into pseudosegments, as well as a new observation for cutting pseudosegments into pieces that can be extended to pseudolines. We mention applications to parametric and kinetic minimum spanning trees.
Adhoc Topk Query Answering for Data Streams
, 2007
"... A topk query retrieves the k highest scoring tuples from a data set with respect to a scoring function defined on the attributes of a tuple. The efficient evaluation of topk queries has been an active research topic and many different instantiations of the problem, in a variety of settings, have b ..."
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Cited by 21 (1 self)
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A topk query retrieves the k highest scoring tuples from a data set with respect to a scoring function defined on the attributes of a tuple. The efficient evaluation of topk queries has been an active research topic and many different instantiations of the problem, in a variety of settings, have been studied. However, techniques developed for conventional, centralized or distributed databases are not directly applicable to highly dynamic environments and online applications, like data streams. Recently, techniques supporting topk queries on data streams have been introduced. Such techniques are restrictive however, as they can only efficiently report topk answers with respect to a prespecified (as opposed to adhoc) set of queries. In this paper we introduce a novel geometric representation for the topk query problem that allows us to raise this restriction. Utilizing notions of geometric arrangements, we design and analyze algorithms for incrementally maintaining a data set organized in an arrangement representation under streaming updates. We introduce query evaluation strategies that operate on top of an arrangement data structure that are able to guarantee efficient evaluation for adhoc queries. The performance of our core technique is augmented by incorporating tuple pruning strategies, minimizing the number of tuples that need to be stored and manipulated. This results in a main memory indexing technique supporting both efficient incremental updates and the evaluation of adhoc topk queries. A thorough experimental study evaluates the efficiency of the proposed technique.
Sweeping and Maintaining Twodimensional Arrangements on Quadrics
"... We show how to compute and maintain the twodimensional arrangement on a quadric that is induced by intersection curves with other quadrics. The key idea is to parameterize the quadric by two variables, which then allows to implicitly compute the arrangement in a modified parameter space. We give ..."
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Cited by 14 (8 self)
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We show how to compute and maintain the twodimensional arrangement on a quadric that is induced by intersection curves with other quadrics. The key idea is to parameterize the quadric by two variables, which then allows to implicitly compute the arrangement in a modified parameter space. We give details of a possible parameterization and explain how to implement the needed geometric and topological predicates.
Remarks on kLevel Algorithms in the Plane
, 1999
"... In light of recent developments, this paper reexamines the fundamental geometric problem of how to construct the klevel in an arrangement of n lines in the plane. ffl The author's recent dynamic data structure for planar convex hulls improves a decadeold sweepline algorithm by Edelsbrunner and ..."
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Cited by 12 (6 self)
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In light of recent developments, this paper reexamines the fundamental geometric problem of how to construct the klevel in an arrangement of n lines in the plane. ffl The author's recent dynamic data structure for planar convex hulls improves a decadeold sweepline algorithm by Edelsbrunner and Welzl, which now runs in O(n log m+m log 1+" n) deterministic time and O(n) space, where m is the output size and " is any positive constant. We discuss simplification of the data structure in this particular application, by viewing the problem kinetically. ffl HarPeled recently announced a randomized algorithm with an expected running time of O((n + m)ff(n) log n). We observe that a version of an earlier randomized incremental algorithm by Agarwal, de Berg, Matousek, and Schwarzkopf yields almost the same result. ffl The current combinatorial bound by Dey shows that m = O(nk 1=3 ) in the worst case. We give an algorithm that guarantees O(n log n + nk 1=3 ) expected time. 1 Introd...
On Levels in Arrangements of Curves, II: A Simple Inequality and Its Consequences
 In Proc. 44th IEEE Sympos. Found. Comput. Sci
, 2003
"... We give a surprisingly short proof that in any planar arrangement of n curves where each pair intersects at most a fixed number (s) of times, the klevel has subquadratic (O(n 2s )) complexity. This answers one of the main open problems from the author's previous paper (FOCS'00), which provided a ..."
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Cited by 9 (2 self)
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We give a surprisingly short proof that in any planar arrangement of n curves where each pair intersects at most a fixed number (s) of times, the klevel has subquadratic (O(n 2s )) complexity. This answers one of the main open problems from the author's previous paper (FOCS'00), which provided a weaker bound for a restricted class of curves (graphs of degrees polynomials) only. When combined with existing tools (cutting curves, sampling, etc.), the new idea generates a slew of improved klevel results for most of the curve families studied earlier, including a nearO(n ) bound for parabolas.
Generalized penetration depth computation
 In SPM ’06: Proceedings of the 2006 ACM symposium on Solid and physical modeling
, 2006
"... Penetration depth (PD) is a distance metric that is used to describe the extent of overlap between two intersecting objects. Most of the prior work in PD computation has been restricted to translational PD, which is defined as the minimal translational motion that one of the overlapping objects must ..."
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Cited by 9 (2 self)
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Penetration depth (PD) is a distance metric that is used to describe the extent of overlap between two intersecting objects. Most of the prior work in PD computation has been restricted to translational PD, which is defined as the minimal translational motion that one of the overlapping objects must undergo in order to make the two objects disjoint. In this paper, we extend the notion of PD to take into account both translational and rotational motion to separate the intersecting objects, namely generalized PD. When an object undergoes rigid transformation, some point on the object traces the longest trajectory. The generalized PD between two overlapping objects is defined as the minimum of the longest trajectories of one object under all possible rigid transformations to separate the overlapping objects. We present three new results to compute generalized PD between polyhedral models. First, we show that for two overlapping convex polytopes, the generalized PD is same as the translational PD. Second, when the complement of one of the objects is convex, we pose the generalized PD computation as a variant of the convex containment problem and compute an upper bound using optimization techniques. Finally, when both the objects are nonconvex, we treat them as a combination of the above two cases, and present an algorithm that computes a lower and an upper bound on generalized PD. We highlight the performance of our algorithms on different models that undergo rigid motion in the 6dimensional configuration space. Moreover, we utilize our algorithm for complete motion planning of polygonal robots undergoing translational and rotational motion in a plane. In particular, we use generalized PD computation for checking path nonexistence.
Topology and arrangement computation of semialgebraic planar curves
 CAGD
, 2008
"... We describe a new subdivision method to efficiently compute the topology and the arrangement of implicit planar curves. We emphasize that the output topology and arrangement are guaranteed to be correct. Although we focus on the implicit case, the algorithm can also treat parametric or piecewise lin ..."
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Cited by 8 (2 self)
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We describe a new subdivision method to efficiently compute the topology and the arrangement of implicit planar curves. We emphasize that the output topology and arrangement are guaranteed to be correct. Although we focus on the implicit case, the algorithm can also treat parametric or piecewise linear curves without much additional work and no theoretical difficulties. The method isolates singular points from regular parts and deals with them independently. The topology near singular points is guaranteed through topological degree computation. In either case the topology inside regions is recovered from information on the boundary of a cell of the subdivision. Obtained regions are segmented to provide an efficient insertion operation while dynamically maintaining an arrangement structure. We use enveloping techniques of the polynomial represented in the Bernstein basis to achieve both efficiency and certification. It is finally shown on examples that this algorithm is able to handle curves defined by high degree polynomials with large coefficients, to identify regions of interest and use the resulting structure for either efficient rendering of implicit curves, point localization or boolean operation computation.
Arrangements on parametric surfaces I: General framework and infrastructure
, 2010
"... Abstract. We introduce a framework for the construction, maintenance, and manipulation of arrangements of curves embedded on certain twodimensional orientable parametric surfaces in threedimensional space. The framework applies to planes, cylinders, spheres, tori, and surfaces homeomorphic to them ..."
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Cited by 7 (6 self)
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Abstract. We introduce a framework for the construction, maintenance, and manipulation of arrangements of curves embedded on certain twodimensional orientable parametric surfaces in threedimensional space. The framework applies to planes, cylinders, spheres, tori, and surfaces homeomorphic to them. We reduce the effort needed to generalize existing algorithms, such as the sweep line and zone traversal algorithms, originally designed for arrangements of bounded curves in the plane, by extensive reuse of code. We have realized our approach as the Cgal package Arrangement on surface 2. We define a compact interface for our framework; only the operations in the interface need to be implemented for a specific application. The companion paper [6] describes concretizations for several types of surfaces and curves embedded on them, and applications. This is the first implementation of a generic algorithm that can handle arrangements on a large class of parametric surfaces.
Robot Algorithms
 CRC Handbook of Algorithms and Theory of Computation
, 1999
"... Introduction Robots are versatile mechanical devices equipped with actuators and sensors under the control of a computing system. They perform tasks by executing motions in the physical space. This space is populated by various objects and is subject to the laws of nature. A typical task consists o ..."
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Cited by 6 (3 self)
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Introduction Robots are versatile mechanical devices equipped with actuators and sensors under the control of a computing system. They perform tasks by executing motions in the physical space. This space is populated by various objects and is subject to the laws of nature. A typical task consists of achieving a goal spatial arrangement of objects from a given initial arrangement, for example, assembling a product. Robots are programmable, which means that they can perform a variety of tasks by simply changing the software commanding them. This software embeds robot algorithms, which are abstract descriptions of processes consisting of motions and sensing operations in the physical space. Robot algorithms differ in significant ways from traditional computer algorithms. The latter have full control over, and perfect access to the data they use, letting aside, for example, problems related to floatingpoint arithmetic. In contrast, robot algorithms eventually apply to physical objects i