Anonymous graph exploration without collision by mobile robots

Considering autonomous mobile robots moving on a finite anonymous graph, this paper focuses on the Constrained Perpetual Graph Exploration problem (CPGE). That problem requires each robot to perpetually visit all the vertices of the graph, in such a way that no vertex hosts more than one robot at a time, and each edge is traversed by at most one robot at a time. The paper states an upper bound k on the number of robots that can be placed in the graph while keeping CPGE solvability. To make the impossibility result as strong as possible (no more than k robots can be initially placed in the graph), this upper bound is established under a strong assumption, namely, there is an omniscient daemon that is able to coordinate the robots movements at each round of the synchronous system. Interestingly, this upper bound is related to the topology of the graph. More precisely, the paper associates with each graph a labeled tree that captures the paths that have to be traversed by a single robot at a time (as if they were a simple edge). The length of the longest of these labeled paths reveals to be the key parameter to determine the upper bound k on the number of robots.     

An optimal visibility graph algorithm for triangulated simple polygons

LetP be a triangulated simple polygon withn sides. The visibility graph ofP has an edge between every pair of polygon vertices that can be connected by an open segment in the interior ofP. We describe an algorithm that finds the visibility graph ofP inO(m) time, wherem is the number of edges in the visibility graph. Becausem can be as small asO(n), the algorithm improves on the more general visibility algorithms of Asanoet al. [AAGHI] and Welzl [W], which take Θ(n ²) time, and on Suri'sO(m logn) visibility graph algorithm for simple polygons [S].     

Algorithms and complexity results for graph-based pursuit evasion

We study the classical edge-searching pursuit-evasion problem where a number of pursuers have to clear a given graph of fast-moving evaders despite poor visibility, for example, where robots search a cave system to ensure that no terrorists are hiding in it. We study when polynomial-time algorithms exist to determine how many robots are needed to clear a given graph (minimum robot problem) and how a given number of robots should move on the graph to clear it with either a minimum sum of their travel distances (minimum distance problem) or minimum task-completion time (minimum time problem). The robots cannot clear a graph if the vertex connectivity of some part of the graph exceeds the number of robots. Researchers therefore focus on graphs whose subgraphs can always be cut at a limited number of vertices, that is, graphs of low treewidth, typically trees. We describe an optimal polynomial-time algorithm, called CLEARTHETREE, that is shorter and algorithmically simpler than the state-of-the-art algorithm for the minimum robot problem on unit-width unit-length trees. We then generalize prior research to both unit-width arbitrary-length and unit-length arbitrary-width graphs and derive both algorithms and time complexity results for a variety of graph topologies. Pursuit-evasion problems on the former graphs are generally simpler than pursuit-evasion problems on the latter graphs. For example, the minimum robot and distance problems are solvable in polynomial time on unit-width arbitrary-length trees but NP-hard on unit-length arbitrary-width trees.     

A 2-approximation NC algorithm for connected vertex cover and tree cover

The connected vertex cover problem is a variant of the vertex cover problem, in which a vertex cover is additional required to induce a connected subgraph in a given connected graph. The problem is known to be NP-hard and to be at least as hard to approximate as the vertex cover problem is. While several 2-approximation NC algorithms are known for vertex cover, whether unweighted or weighted, no parallel algorithm with guaranteed approximation is known for connected vertex cover. Moreover, converting the existing sequential 2-approximation algorithms for connected vertex cover to parallel ones results in RNC algorithms of rather high complexity at best.In this paper we present a 2-approximation NC (and RNC) algorithm for connected vertex cover (and tree cover). The NC algorithm runs in O(log²n) time using O(Δ²(m+n)/logn) processors on an EREW-PRAM, while the RNC algorithm runs in O(logn) expected time using O(m+n) processors on a CRCW-PRAM, when a given graph has n vertices and m edges with maximum vertex degree of Δ.     

A topological approach to dynamic graph connectivity

A dynamic connectivity problem consists of an initial graph, and a sequence of operations consisting of graph modifications and graph connectivity tests. The size n of the problem is the sum of the maximum number of vertices and edges of the derived graph, plus the number of operations to be executed. Each graph modification is a deletion of either an edge or an isolated vertex. Each graph connectivity test is to determine if there exists a path in the current graph between two given vertices (the vertices can vary for distinct tests). The best previously known time for this dynamic connectivity problem was Ω(n²).Our main result is an O(ng+n log n) time algorithm for the dynamic connectivity problem in the case of the maximum genus of the derived graph being g.     

Algorithms for updating minimal spanning trees

The problem of finding the minimal spanning tree on an undirected weighted graph has been investigated by many people and O(n²) algorithms are well known. P. M. Spira and A. Pan (Siam J. Computing4 (1975), 375–380) present an O(n) algorithm for updating the minimal spanning tree if a new vertex is inserted into the graph. In this paper, we present another O(n) algorithm simpler than that presented by Spira and Pan for the insertion of a vertex. Spira and Pan further show that the deletion of a vertex requires O(n²) steps. If all the vertices are considered, O(n³) steps may be used. The algorithm which we present here takes only O(n²) steps and labels the vertices of the graph in such a way that any vertex may be deleted from the graph and the minimal spanning tree can be updated in constant time. Similar results are obtained for the insertion and the deletion of an edge.     

Traversal of an Unknown Directed Graph by a Finite Robot

A covering path in a directed graph is a path passing through all vertices and arcs of the graph, with each arc being traversed only in the direction of its orientation. A covering path exists for any initial vertex only if the graph is strongly connected, i.e., any of its vertices can be reached from any other vertex by some path. The strong connectivity is the only restriction on the considered class of graphs. As is known, on the class of such graphs, the covering path length is (nm), where n is the number of vertices and m is the number of arcs. For any graph, there exists a covering path of length O(nm), and there exist graphs with covering paths of the minimum length (nm). The traversal of an unknown graph implies that the topology of the graph is not a priori known, and we learn it only in the course of traversing the graph. At each vertex, one can see which arcs originate from the vertex, but one can learn to which vertex a given arc leads only after traversing this arc. This is similar to the problem of traversing a maze by a robot in the case where the plan of the maze is not available. If the robot is a general-purpose computer without any limitations on the number of its states, then traversal algorithms with the same estimate O(nm) are known. If the number of states is bounded, then this robot is a finite automaton. Such a robot is an analogue of the Turing machine, where the tape is replaced by a graph and the cells are assigned to the graph vertices and arcs. Currently, the lower estimate of the length of the traversal by a finite robot is not known. In 1971, the author of this paper suggested a robot with the traversal length O(nm + n ²logn). The algorithm of the robot is based on the construction of the output directed spanning tree of the graph and on the breadth-first search (BFS) on this tree. In 1993, Afek and Gafni [1] suggested an algorithm with the same estimate of the covering path length, which was also based on constructing a spanning tree but used the depth-first search (DFS) method. In this paper, an algorithm is suggested that combines the breadth-first search with the backtracking (suggested by Afek and Gafni), which made it possible to reach the estimate O(nm + n ²loglogn). The robot uses a constant number of memory bits for each vertex and arc of the graph.     

Enumerating Minimal Subset Feedback Vertex Sets

The Subset Feedback Vertex Set problem takes as input a pair (G,S), where G=(V,E) is a graph with weights on its vertices, and S?V. The task is to find a set of vertices of total minimum weight to be removed from G, such that in the remaining graph no cycle contains a vertex of S. We show that this problem can be solved in time O(1.8638 ⁿ ), where n=|V|. This is a consequence of the main result of this paper, namely that all minimal subset feedback vertex sets of a graph can be enumerated in time O(1.8638 ⁿ ).     

Multirobot Rendezvous With Visibility Sensors in Nonconvex Environments

This paper presents a coordination algorithm for mobile autonomous robots. Relying on distributed sensing, the robots achieve rendezvous, i.e., they move to a common location. Each robot is a point mass moving in a simply connected, nonconvex, unknown environment according to an omnidirectional kinematic model. It is equipped with line-of-sight limited-range sensors, i.e., it can measure the relative position of any object (robots or environment boundary) if and only if the object is within a given distance and there are no obstacles in between. The perimeter minimizing algorithm is designed using the notions of robust visibility, connectivity-preserving constraint sets, and proximity graphs. The algorithm provably achieves rendezvous if the interagent sensing graph is connected at any time during the evolution of the group. Simulations illustrate the theoretical results and the performance of the proposed algorithm in asynchronous setups and with measurement errors, control errors, and nonzero robot size. Simulations to illustrate the importance of visibility constraints and comparisons with the optimal centralized algorithm are also included.     

An optimal visibility graph algorithm for triangulated simple polygons

LetP be a triangulated simple polygon withn sides. The visibility graph ofP has an edge between every pair of polygon vertices that can be connected by an open segment in the interior ofP. We describe an algorithm that finds the visibility graph ofP inO(m) time, wherem is the number of edges in the visibility graph. Becausem can be as small asO(n), the algorithm improves on the more general visibility algorithms of Asanoet al. [AAGHI] and Welzl [W], which take (n ²) time, and on Suri'sO(m logn) visibility graph algorithm for simple polygons [S].This work was supported in part by a U.S. Army Research Office fellowship under agreement DAAG29-83-G-0020.     

Pursuit-Evasion on Trees by Robot Teams

We present Graph-Clear: a novel pursuit-evasion problem on graphs which models the detection of intruders in complex indoor environments by robot teams. The environment is represented by a graph, and a robot team can execute sweep and block actions on vertices and edges, respectively. A sweep action detects intruders in a vertex and represents the capability of the robot team to detect intruders in the region associated to the vertex. Similarly, a block action prevents intruders from crossing an edge and represents the capability to detect intruders as they move between regions. Both actions may require multiple robots to be executed. A strategy is a sequence of block and sweep actions to detect all intruders. When instances of Graph-Clear are being solved, the goal is to determine optimal strategies, i.e., strategies that use the least number of robots. We prove that for the general case of graphs, the problem of computation of optimal strategies is NP-hard. Next, for the special case of trees, we provide a polynomial-time algorithm. The algorithm ensures that throughout the execution of the strategy, all cleared vertices form a connected subtree, and we show that it produces optimal strategies.      

A novel approach to coordination of multiple robots with communication failures via proximity graph

In this paper, we investigate the coordination problem of multiple robots with limited communication ranges and communication failures. A novel rendezvous algorithm via proximity graph is developed so that the robot group can achieve rendezvous when the communication links satisfy an ergodic assumption. The convergence proof of the algorithm is established based on the tools from rooted graph theory. The effectiveness of the algorithm is illustrated by numerical examples in a 3D space.     

Parameterized algorithm for eternal vertex cover

In this paper we initiate the study of a “dynamic” variant of the classical Vertex Cover problem, the Eternal Vertex Cover problem introduced by Klostermeyer and Mynhardt, from the perspective of parameterized algorithms. This problem consists in placing a minimum number of guards on the vertices of a graph such that these guards can protect the graph from any sequence of attacks on its edges. In response to an attack, each guard is allowed either to stay in his vertex, or to move to a neighboring vertex. However, at least one guard has to fix the attacked edge by moving along it. The other guards may move to reconfigure and prepare for the next attack. Thus at every step the vertices occupied by guards form a vertex cover. We show that the problem admits a kernel of size k⁴(k+1)+2k, which shows that the problem is fixed parameter tractable when parameterized by the number of available guards k. Finally, we also provide an algorithm with running time O(²O(k²)+nm) for Eternal Vertex Cover, where n is the number of vertices and m the number of edges of the input graph. In passing we also observe that Eternal Vertex Cover is NP-hard, yet it has a polynomial time 2-approximation algorithm.     

Processing of Off-Line Handwritten Text: Polygonal Approximation and Enforcement of Temporal Information

Algorithms to process off-line Arabic handwriting prior to recognition are presented. The first algorithm converts smoothed and thinned images into polygonal approximations. The second algorithm determines the start vertex of writing. The third algorithm enforces temporal information by traversing the graph of the stroke in an order consistent with Arabic handwriting. It implements the following heuristic rule: the minimum distance path that traverses the stroke′s polygon from the start vertex to the end vertex has its vertices ordered as they were generated when the stroke was written. This third algorithm is developed from a standard solution of the Chinese postman′s problem applied to the graph of the stroke. Special rules to enforce temporal information on the stroke to obtain the most likely traversal that is consistent with Arabic handwriting are applied. Unconstrained handwritten strokes written by five subjects, (n = 4065) were used in testing. In 92.6% of the samples, the proposed algorithms restored the actual temporal information.     

Computing an st-numbering

Lempel, Even and Cederbaum proved the following result: Given any edge {st} in a biconnected graph G with n vertices, the vertices of G can be numbered from 1 to n so that vertex s receives number 1, vertex t receives number n, and any vertex except s and t is adjacent both to a lower-numbered and to a higher-numbered vertex (we call such a numbering an st-numbering for G). They used this result in an efficient algorithm for planarity-testing. Here we provide a linear-time algorithm for computing an st-numbering for any biconnected graph. This algorithm can be combined with some new results by Booth and Lueker to provide a linear-time implementation of the Lempel-Even-Cederbaum planarity-testing algorithm.     

Two-level heaps: a new priority queue structure with applications to the single source shortest path problem

The single source shortest paths problem with positive edge weights (SSSPP) is one of the more widely studied problems in operations research and theoretical computer science, on account of its wide applicability to practical situations. This problem was first solved in polynomial time by Dijkstra, who showed that by extracting vertices with the smallest distance from the source and relaxing its outgoing edges, the shortest path to each vertex is obtained. Variations of this general theme have led to a number of algorithms which work well in practice. At the heart of a Dijkstra implementation is the technique used to implement a priority queue. It is well known that using Dijkstra’s approach requires Ω(n log n) steps on a graph having n vertices, since it essentially sorts vertices based on their distances from the source. Accordingly, the fastest implementation of Dijkstra’s algorithm on a graph with n vertices and m edges should take Ω(m + n · log n) time, and consequently, the Dijkstra procedure for SSSPP using Fibonacci Heaps is optimal in the comparison-based model. In this paper, we introduce a new data structure to implement priority queues called two-level heap (TLH) and a new variant of Dijkstra’s algorithm called Phased Dijkstra. We contrast the performance of Dijkstra’s algorithm (both the simple and the phased variants) using a number of data structures to implement the priority queue and empirically establish that TLH are far superior to Fibonacci heaps on every graph family considered. It is to be noted that our profiling includes both sparse and dense graphs.     

A note on a QPTAS for maximum weight triangulation of planar point sets

We observe that the recent quasi-polynomial time approximation scheme (QPTAS) of Adamaszek and Wiese for the Maximum Weight Independent Set of Polygons problem, where polygons have at most a polylogarithmic number of vertices and nonnegative weights, yields:

1.

a QPTAS for the problem of finding, for a set S of n points in the plane, a planar straight-line graph (PSLG) whose vertices are the points in S and whose each interior face is a simple polygon with at most a polylogarithmic in n number of vertices such that the total weight of the inner faces is maximized, and in particular,     

Towards optimal kernel for edge-disjoint triangle packing

We study the kernelization of the Edge-Disjoint Triangle Packing (Etp) problem, in which we are asked to find k edge-disjoint triangles in an undirected graph. Etp is known to be fixed-parameter tractable with a 4k vertex kernel. The kernelization first finds a maximal triangle packing which contains at most 3k vertices, then the reduction rules are used to bound the size of the remaining graph. The constant in the kernel size is so small that a natural question arises: Could 4k be already the optimal vertex kernel size for this problem? In this paper, we answer the question negatively by deriving an improved 3.5k vertex kernel for the problem.     

Parallel methods for visibility and shortest-path problems in simple polygons

In this paper we give efficient parallel algorithms for solving a number of visibility and shortest-path problems for simple polygons. Our algorithms all run inO(logn) time and are based on the use of a new data structure for implicitly representing all shortest paths in a simple polygonP, which we call thestratified decomposition tree. We use this approach to derive efficient parallel methods for computing the visibility ofP from an edge, constructing the visibility graph of the vertices ofP (using an output-sensitive number of processors), constructing the shortest-path tree from a vertex ofP, and determining all-farthest neighbors for the vertices inP. The computational model we use is the CREW PRAM.