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83
An Optimal Algorithm for Euclidean Shortest Paths in the Plane
 SIAM J. Comput
, 1997
"... We propose an optimaltime algorithm for a classical problem in plane computational geometry: computing a shortest path between two points in the presence of polygonal obstacles. Our algorithm runs in worstcase time O(n log n) and requires O(n log n) space, where n is the total number of vertice ..."
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Cited by 93 (1 self)
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We propose an optimaltime algorithm for a classical problem in plane computational geometry: computing a shortest path between two points in the presence of polygonal obstacles. Our algorithm runs in worstcase time O(n log n) and requires O(n log n) space, where n is the total number of vertices in the obstacle polygons. The algorithm is based on an efficient implementation of wavefront propagation among polygonal obstacles, and it actually computes a planar map encoding shortest paths from a fixed source point to all other points of the plane; the map can be used to answer singlesource shortest path queries in O(logn) time. The time complexity of our algorithm is a significant improvement over all previously published results on the shortest path problem. Finally, we also discuss extensions to more general shortest path problems, involving nonpoint and multiple sources. 1 Introduction 1.1 The Background and Our Result The Euclidean shortest path problem is one of the o...
Visibility, Occlusion, and the Aspect Graph
, 1987
"... In this paper we study the ways in which the topology of the image of a polyhedron changes with changing viewpoint. We catalog the ways that the topological appearance, or aspect, can change. This enables us to find maximal regions of viewpoints of the same aspect. We use these techniques to constru ..."
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Cited by 92 (7 self)
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In this paper we study the ways in which the topology of the image of a polyhedron changes with changing viewpoint. We catalog the ways that the topological appearance, or aspect, can change. This enables us to find maximal regions of viewpoints of the same aspect. We use these techniques to construct the viewpoint space partition (VSP), a partition of viewpoint space into maximal regions of constant aspect, and its dual, the aspect graph. In this paper we present tight bounds on the maximum size of the VSP and the aspect graph and give algorithms for their construction, first in the convex case and then in the general case. In particular, we give bounds on the maximum size of Q(n 2 ) and Q (n 6 ) under an orthographic projection viewing model and of Q(n 3 ) and Q(n 9 ) under a perspective viewing model. The algorithms make use of a new representation of the appearance of polyhedra from all viewpoints, called the aspect representation or asp. We believe that this representation...
Computing Minimum Length Paths of a Given Homotopy Class
 Comput. Geom. Theory Appl
, 1991
"... In this paper, we show that the universal covering space of a surface can be used to unify previous results on computing paths in a simple polygon. We optimize a given path among obstacles in the plane under the Euclidean and link metrics and under polygonal convex distance functions. Besides reveal ..."
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Cited by 76 (7 self)
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In this paper, we show that the universal covering space of a surface can be used to unify previous results on computing paths in a simple polygon. We optimize a given path among obstacles in the plane under the Euclidean and link metrics and under polygonal convex distance functions. Besides revealing connections between the minimum paths under these three distance functions, the framework provided by the universal cover leads to simplified lineartime algorithms for shortest path trees, for minimumlink paths in simple polygons, and for paths restricted to c given orientations. 1 Introduction If a wire, a pipe, or a robot must traverse a path among obstacles in the plane, then one might ask what is the best route to take. For the wire, perhaps the shortest distance is best; for the pipe, perhaps the fewest straightline segments. For the robot, either might be best depending on the relative costs of turning and moving. In this paper, we find shortest paths and shortest closed curve...
Dynamic and efficient key management for access hierarchies
 In Proceedings of the ACM Conference on Computer and Communications Security
, 2005
"... Hierarchies arise in the context of access control whenever the user population can be modeled as a set of partially ordered classes (represented as a directed graph). A user with access privileges for a class obtains access to objects stored at that class and all descendant classes in the hierarchy ..."
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Cited by 69 (8 self)
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Hierarchies arise in the context of access control whenever the user population can be modeled as a set of partially ordered classes (represented as a directed graph). A user with access privileges for a class obtains access to objects stored at that class and all descendant classes in the hierarchy. The problem of key management for such hierarchies then consists of assigning a key to each class in the hierarchy so that keys for descendant classes can be obtained via efficient key derivation. We propose a solution to this problem with the following properties: (1) the space complexity of the public information is the same as that of storing the hierarchy; (2) the private information at a class consists of a single key associated with that class; (3) updates (i.e., revocations and additions) are handled locally in the hierarchy; (4) the scheme is provably secure against collusion; and (5) each node can derive the key of any of its descendant with a number of symmetrickey operations bounded by the length of the path between the nodes. Whereas many previous schemes had some of these properties, ours is the first that satisfies all of them. The security of our scheme is based on pseudorandom functions, without reliance on the Random Oracle Model. 18 Portions of this work were supported by Grants IIS0325345 and CNS06274488 from the
ClosestPoint Problems in Computational Geometry
, 1997
"... This is the preliminary version of a chapter that will appear in the Handbook on Computational Geometry, edited by J.R. Sack and J. Urrutia. A comprehensive overview is given of algorithms and data structures for proximity problems on point sets in IR D . In particular, the closest pair problem, th ..."
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Cited by 68 (14 self)
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This is the preliminary version of a chapter that will appear in the Handbook on Computational Geometry, edited by J.R. Sack and J. Urrutia. A comprehensive overview is given of algorithms and data structures for proximity problems on point sets in IR D . In particular, the closest pair problem, the exact and approximate postoffice problem, and the problem of constructing spanners are discussed in detail. Contents 1 Introduction 1 2 The static closest pair problem 4 2.1 Preliminary remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.2 Algorithms that are optimal in the algebraic computation tree model . 5 2.2.1 An algorithm based on the Voronoi diagram . . . . . . . . . . . 5 2.2.2 A divideandconquer algorithm . . . . . . . . . . . . . . . . . . 5 2.2.3 A plane sweep algorithm . . . . . . . . . . . . . . . . . . . . . . 6 2.3 A deterministic algorithm that uses indirect addressing . . . . . . . . . 7 2.3.1 The degraded grid . . . . . . . . . . . . . . . . . . ...
The Robot Localization Problem
 Proc. 1st Workshop on Algorithmic Foundations of Robotics
, 1995
"... We consider the following problem: given a simple polygon P and a starshaped polygon V , find a point (or the set of points) in P from which the portion of P that is visible is translationcongruent to V . The problem arises in the localization of robots equipped with a rangefinder and a compass ..."
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Cited by 57 (4 self)
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We consider the following problem: given a simple polygon P and a starshaped polygon V , find a point (or the set of points) in P from which the portion of P that is visible is translationcongruent to V . The problem arises in the localization of robots equipped with a rangefinder and a compass  P is a map of a known environment, V is the portion visible from the robot's position, and the robot must use this information to determine its position in the map. We give a scheme that preprocesses P so that any subsequent query V is answered in optimal time O(m + log n + A), where m and n are the number of vertices in V and P , and A is the number of points in P that are valid answers (the output size). Our technique uses O(n 5 ) space and preprocessing in the worst case; within certain limits, we can trade off smoothly between the query time and the preprocessing time and space. In the process of solving this problem, we also devise a data structure for outputsensitive determinati...
Planar Separators and Parallel Polygon Triangulation
"... We show how to construct an O ( p n)separator decomposition of a planar graph G in O(n) time. Such a decomposition defines a binary tree where each node corresponds to a subgraph of G and stores an O ( p n)separator of that subgraph. We also show how to construct an O(n)way decomposition tree in ..."
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Cited by 51 (8 self)
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We show how to construct an O ( p n)separator decomposition of a planar graph G in O(n) time. Such a decomposition defines a binary tree where each node corresponds to a subgraph of G and stores an O ( p n)separator of that subgraph. We also show how to construct an O(n)way decomposition tree in parallel in O(log n) time so that each node corresponds to a subgraph of G and stores an O(n 1=2+)separator of that subgraph. We demonstrate the utility of such a separator decomposition by showing how it can be used in the design of a parallel algorithm for triangulating a simple polygon deterministically in O(log n) time using O(n = log n) processors on a CRCW PRAM.
Dynamic Trees and Dynamic Point Location
 In Proc. 23rd Annu. ACM Sympos. Theory Comput
, 1991
"... This paper describes new methods for maintaining a pointlocation data structure for a dynamicallychanging monotone subdivision S. The main approach is based on the maintenance of two interlaced spanning trees, one for S and one for the graphtheoretic planar dual of S. Queries are answered by using ..."
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Cited by 44 (9 self)
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This paper describes new methods for maintaining a pointlocation data structure for a dynamicallychanging monotone subdivision S. The main approach is based on the maintenance of two interlaced spanning trees, one for S and one for the graphtheoretic planar dual of S. Queries are answered by using a centroid decomposition of the dual tree to drive searches in the primal tree. These trees are maintained via the linkcut trees structure of Sleator and Tarjan, leading to a scheme that achieves vertex insertion/deletion in O(log n) time, insertion/deletion of kedge monotone chains in O(log n + k) time, and answers queries in O(log 2 n) time, with O(n) space, where n is the current size of subdivision S. The techniques described also allow for the dual operations expand and contract to be implemented in O(log n) time, leading to an improved method for spatial pointlocation in a 3dimensional convex subdivision. In addition, the interlacedtree approach is applied to online pointlo...
Planar spanners and approximate shortest path queries among obstacles
 in the plane, Proc. 4th European Sympos. Algorithms
, 1996
"... Abstract. We consider the problem of finding an obstacleavoiding path between two points s and t in the plane, amidst a set of disjoint polygonal obstacles with a total of n vertices. The length of this path should be within a small constant factor c of the length of the shortest possible obstacle ..."
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Cited by 40 (14 self)
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Abstract. We consider the problem of finding an obstacleavoiding path between two points s and t in the plane, amidst a set of disjoint polygonal obstacles with a total of n vertices. The length of this path should be within a small constant factor c of the length of the shortest possible obstacleavoiding st path measured in the Lvmetric. Such an approximate shortest path is called a cshort path, or a short path with stretch]actor c. The goal is to preprocess the obstaclescattered plane by creating an efficient data structure that enables fast reporting of a cshort path (or its length). In this paper, we give a family of algorithms for the above problem that achieve an interesting tradeoff between the stretch factor, the query time and the preprocessing bounds. Our main results are algorithms that achieve logarithmic length query time, after subquadratic time and space preprocessing. 1
AN O(n log log n)TIME ALGORITHM FOR TRIANGULATING A SIMPLE POLYGON
, 1988
"... Given a simple nvertex polygon, the triangulation problem is to partition the interior of the polygon into n2 triangles by adding n3 nonintersecting diagonals. We propose an O(n log logn)time algorithm for this problem, improving on the previously best bound of O (n log n) and showing that tria ..."
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Cited by 36 (3 self)
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Given a simple nvertex polygon, the triangulation problem is to partition the interior of the polygon into n2 triangles by adding n3 nonintersecting diagonals. We propose an O(n log logn)time algorithm for this problem, improving on the previously best bound of O (n log n) and showing that triangulation is not as hard as sorting. Improved algorithms for several other computational geometry problems, including testing whether a polygon is simple, follow from our result.