An algorithm for segment-dragging and its implementation

Given a collection of points in the plane, pick an arbitrary horizontal segment and move it vertically until it hits one of the points (if at all). This form ofsegment-dragging is a common operation in computer graphics and motion-planning, it can also serve as a building block for multidimensional data structures. This note describes a new approach to segment-dragging which yields a simple and efficient solution. The data structure requiresO(n) storage andO(n logn) preprocessing time, and each query can be answered inO(logn) time, wheren is the number of points in the collection. The method is best understood as the end result of a sequence of transformations applied to a simple but inefficient starting solution.This work was started while the author was a visiting professor at Ecole Normale Supérieure, Paris, France.     

Visibility of disjoint polygons

Consider a collection of disjoint polygons in the plane containing a total ofn edges. We show how to build, inO(n ²) time and space, a data structure from which inO(n) time we can compute the visibility polygon of a given point with respect to the polygon collection. As an application of this structure, the visibility graph of the given polygons can be constructed inO(n ²) time and space. This implies that the shortest path that connects two points in the plane and avoids the polygons in our collection can be computed inO(n ²) time, improving earlierO(n ² logn) results.     

Towards optimal range medians

We consider the following problem: Given an unsorted array of n elements, and a sequence of intervals in the array, compute the median in each of the subarrays defined by the intervals. We describe a simple algorithm which needs O(nlogk+klogn) time to answer k such median queries. This improves previous algorithms by a logarithmic factor and matches a comparison lower bound for k=O(n). The space complexity of our simple algorithm is O(nlogn) in the pointer machine model, and O(n) in the RAM model. In the latter model, a more involved O(n) space data structure can be constructed in O(nlogn) time where the time per query is reduced to O(logn/loglogn). We also give efficient dynamic variants of both data structures, achieving O(log²n) query time using O(nlogn) space in the comparison model and O((logn/loglogn)²) query time using O(nlogn/loglogn) space in the RAM model, and show that in the cell-probe model, any data structure which supports updates in O(log^O(1)n) time must have Ω(logn/loglogn) query time.Our approach naturally generalizes to higher-dimensional range median problems, where element positions and query ranges are multidimensional—it reduces a range median query to a logarithmic number of range counting queries.     

Visibility of disjoint polygons

Consider a collection of disjoint polygons in the plane containing a total ofn edges. We show how to build, inO(n ²) time and space, a data structure from which inO(n) time we can compute the visibility polygon of a given point with respect to the polygon collection. As an application of this structure, the visibility graph of the given polygons can be constructed inO(n ²) time and space. This implies that the shortest path that connects two points in the plane and avoids the polygons in our collection can be computed inO(n ²) time, improving earlierO(n ² logn) results.     

Internal and external algorithms for the points-in-regions problem—the inside join of geo-relational algebra

We consider the problem of collectively locating a set of points within a set of disjoint polygonal regions when neither for points nor for regions preprocessing is allowed. This problem arises in geometric database systems. More specifically it is equivalent to computing theinside join of geo-relational algebra, a conceptual model for geo-data management. We describe efficient algorithms for solving this problem based on plane-sweep and divide-and-conquer, requiringO(n(logn) +t) andO(n(log² n) +t) time, respectively, andO(n) space, wheren is the total number of points and edges, and (is the number of reported (point, region) pairs. Since the algorithms are meant to be practically useful we consider as well as the internal versions-running completely in main memory-versions that run internally but use much less than linear space and versions that run externally, that is, require only a constant amount of internal memory regardless of the amount of data to be processed. Comparing plane-sweep and divide-and-conquer, it turns out that divide-and-conquer can be expected to perform much better in the external case even though it has a higher internal asymptotic worst-case complexity. An interesting theoretical by-product is a new general technique for handling arbitrarily large sets of objects clustered on a singlex-coordinate within a planar divide-and-conquer algorithm and a proof that the resulting “unbalanced” dividing does not lead to a more than logarithmic height of the tree of recursive calls.     

Fully dynamic biconnectivity in graphs

We present an algorithm for maintaining the biconnected components of a graph during a sequence of edge insertions and deletions. It requires linear storage and preprocessing time. The amortized running time for insertions and for deletions isO(m ^2/3 ), wherem is the number of edges in the graph. Any query of the form ‘Are the verticesu andv biconnected?’ can be answered in timeO(1). This is the first sublinear algorithm for this problem. We can also output all articulation points separating any two vertices efficiently. If the input is a plane graph, the amortized running time for insertions and deletions drops toO(√n logn) and the query time isO(log² n), wheren is the number of vertices in the graph. The best previously known solution takes timeO(n ^2/3 ) per update or query.     

The parenthesis tree

We provide a simple and direct dynamic data structure, the parenthesis tree, to represent a set of nested intervals using O(n) space. Updating and querying with an interval nested with respect to those in the tree can be carried out in O(logn) time. This structure provides a simpler alternative to the “treap” when solving the connected component problem.     

An efficient certifying algorithm for the Hamiltonian cycle problem on circular-arc graphs

A certifying algorithm for a problem is an algorithm that provides a certificate with each answer that it produces. The certificate is an evidence that can be used to authenticate the correctness of the answer. A Hamiltonian cycle in a graph is a simple cycle in which each vertex of the graph appears exactly once. The Hamiltonian cycle problem is to determine whether or not a graph contains a Hamiltonian cycle. The best result for the Hamiltonian cycle problem on circular-arc graphs is an O(n²logn)-time algorithm, where n is the number of vertices of the input graph. In fact, the O(n²logn)-time algorithm can be modified as a certifying algorithm although it was published before the term certifying algorithms appeared in the literature. However, whether there exists an algorithm whose time complexity is better than O(n²logn) for solving the Hamiltonian cycle problem on circular-arc graphs has been opened for two decades. In this paper, we present an O(Δn)-time certifying algorithm to solve this problem, where Δ represents the maximum degree of the input graph. The certificates provided by our algorithm can be authenticated in O(n) time.     

Parallel Algorithms for the Edge-Coloring and Edge-Coloring Update Problems

LetG(V,E) be a simple undirected graph with a maximum vertex degree Δ(G) (or Δ for short), |V| =nand |E| =m. An edge-coloring ofGis an assignment to each edge inGa color such that all edges sharing a common vertex have different colors. The minimum number of colors needed is denoted by χ′(G) (called thechromatic index). For a simple graphG, it is known that Δ ≤ χ′(G) ≤ Δ + 1. This paper studies two edge-coloring problems. The first problem is to perform edge-coloring for an existing edge-colored graphGwith Δ + 1 colors stemming from the addition of a new vertex intoG. The proposed parallel algorithm for this problem runs inO(Δ^3/2log³Δ + Δ logn) time usingO(max{nΔ, Δ³}) processors. The second problem is to color the edges of a given uncolored graphGwith Δ + 1 colors. For this problem, our first parallel algorithm requiresO(Δ^5.5log³Δ logn+ Δ⁵log⁴n) time andO(max{n²Δ,nΔ³}) processors, which is a slight improvement on the algorithm by H. J. Karloff and D. B. Shmoys [J. Algorithms8 (1987), 39–52]. Their algorithm costsO(Δ⁶log⁴n) time andO(n²Δ) processors if we use the fastest known algorithm for finding maximal independent sets by M. Goldberg and T. Spencer [SIAM J. Discrete Math.2 (1989), 322–328]. Our second algorithm requiresO(Δ^4.5log³Δ logn+ Δ⁴log⁴n) time andO(max{n²,nΔ³}) processors. Finally, we present our third algorithm by incorporating the second algorithm as a subroutine. This algorithm requiresO(Δ^3.5log³Δ logn+ Δ³log⁴n) time andO(max{n²log Δ,nΔ³}) processors, which improves, by anO(Δ^2.5) factor in time, on Karloff and Shmoys' algorithm. All of these algorithms run in the COMMON CRCW PRAM model.     

L 1 shortest paths among polygonal obstacles in the plane

We present an algorithm for computingL ₁ shortest paths among polygonal obstacles in the plane. Our algorithm employs the “continuous Dijkstra” technique of propagating a “wavefront” and runs in timeO(E logn) and spaceO(E), wheren is the number of vertices of the obstacles andE is the number of “events.” By using bounds on the density of certain sparse binary matrices, we show thatE =O(n logn), implying that our algorithm is nearly optimal. We conjecture thatE =O(n), which would imply our algorithm to be optimal. Previous bounds for our problem were quadratic in time and space. Our algorithm generalizes to the case of fixed orientation metrics, yielding anO(n?^?1/2 log² n) time andO(n?^?1/2) space approximation algorithm for finding Euclidean shortest paths among obstacles. The algorithm further generalizes to the case of many sources, allowing us to compute anL ₁ Voronoi diagram for source points that lie among a collection of polygonal obstacles.     

Fast heuristic algorithms for rectilinear steiner trees

A fundamental problem in circuit design is how to connectn points in the plane, to make them electrically common using the least amount of wire. The tree formed, a Steiner tree, is usually constructed with respect to the rectilinear metric. The problem is known to be NP-complete; an extensive review of proposed heuristics is given. An early algorithm by Hanan is shown to have anO(n logn) time implementation using computational geometry techniques. The algorithm can be modified to do sequential searching inO(n ²) total time. However, it is shown that the latter approach runs inO(n ^3/2) expected time, forn points selected from anm×m grid. Empirical results are presented for problems up to 10,000 points.     

Fast computation of smallest enclosing circle with center on a query line segment

Here we propose an efficient algorithm for computing the smallest enclosing circle whose center is constrained to lie on a query line segment. Our algorithm preprocesses a given set of n points P={p₁,p₂,…,pn} such that for any query line or line segment L, it efficiently locates a point c on L that minimizes the maximum distance among the points in P from c. Roy et al. [S. Roy, A. Karmakar, S. Das, S.C. Nandy, Constrained minimum enclosing circle with center on a query line segment, in: Proc. of the 31st Mathematical Foundation of Computer Science, 2006, pp. 765-776] have proposed an algorithm that solves the query problem in O(log²n) time using O(nlogn) preprocessing time and O(n) space. Our algorithm improves the query time to O(logn); but the preprocessing time and space complexities are both O(n²).     

The longest common subsequence problem revisited

This paper re-examines, in a unified framework, two classic approaches to the problem of finding a longest common subsequence (LCS) of two strings, and proposes faster implementations for both. Letl be the length of an LCS between two strings of lengthm andn ≥m, respectively, and let s be the alphabet size. The first revised strategy follows the paradigm of a previousO(ln) time algorithm by Hirschberg. The new version can be implemented in timeO(lm · min logs, logm, log(2n/m)), which is profitable when the input strings differ considerably in size (a looser bound for both versions isO(mn)). The second strategy improves on the Hunt-Szymanski algorithm. This latter takes timeO((r +n) logn), wherer≤mn is the total number of matches between the two input strings. Such a performance is quite good (O(n logn)) whenr～n, but it degrades to Θ(mn logn) in the worst case. On the other hand the variation presented here is never worse than linear-time in the productmn. The exact time bound derived for this second algorithm isO(m logn +d log(2mn/d)), whered ≤r is the number ofdominant matches (elsewhere referred to asminimal candidates) between the two strings. Both algorithms require anO(n logs) preprocessing that is nearly standard for the LCS problem, and they make use of simple and handy auxiliary data structures.     

Using spine decompositions to efficiently solve the length-constrained heaviest path problem for trees

The length-constrained heaviest path (LCHP) in a weighted tree T, where each edge is assigned a weight and a length, is the path P in T with maximum total path weight and total path length bounded by a given value B. This paper presents an O(nlogn) time LCHP algorithm which utilizes a data structure constructed from the spine decomposition of the input tree. This is an improvement over the existing algorithm by Wu et al. (1999), which runs in O(nlog²n) time. Our method also improves on a previous O(nlogn) time algorithm by Kim (2005) for the special case of finding a longest nonnegative path in a constant degree tree in that we can handle trees of arbitrary degree within the same time bounds.     

A Parallel Priority Queue with Constant Time Operations

We present a parallel priority queue that supports the following operations in constant time:parallel insertionof a sequence of elements ordered according to key,parallel decrease keyfor a sequence of elements ordered according to key,deletion of the minimum key element, anddeletion of an arbitrary element. Our data structure is the first to support multi-insertion and multi-decrease key in constant time. The priority queue can be implemented on the EREW PRAM and can perform any sequence ofnoperations inO(n) time andO(mlogn) work,mbeing the total number of keyes inserted and/or updated. A main application is a parallel implementation of Dijkstra's algorithm for the single-source shortest path problem, which runs inO(n) time andO(mlogn) work on a CREW PRAM on graphs withnvertices andmedges. This is a logarithmic factor improvement in the running time compared with previous approaches.     

An in-place algorithm for Klee's measure problem in two dimensions

We present the first in-place algorithm for solving Klee's measure problem for a set of n axis-parallel rectangles in the plane. Our algorithm runs in O(n3/2logn) time and uses O(1) extra words in addition to the space needed for representing the input. The algorithm is surprisingly simple and thus very likely to yield an implementation that could be of practical interest. As a byproduct, we develop an optimal algorithm for solving Klee's measure problem for a set of n intervals; this algorithm runs in optimal time O(nlogn) and uses O(1) extra space.     

Parallel integer sorting and simulation amongst CRCW models

In this paper a general technique for reducing processors in simulation without any increase in time is described. This results in an O(√logn) time algorithm for simulating one step of PRIORITY on TOLERANT with processor-time product of O(n log logn); the same as that for simulating PRIORITY on ARBITRARY. This is used to obtain anO(logn/log logn + √logn (log logm ? log logn)) time algorithm for sortingn integers from the set {0,...,m ? 1},m ≧n, with a processor-time product ofO(n log logm log logn) on a TOLERANT CRCW PRAM. New upper and lower bounds for ordered chaining problem on an allocated COMMON CRCW model are also obtained. The algorithm for ordered chaining takesO(logn/log logn) time on an allocated PRAM of sizen. It is shown that this result is best possible (upto a constant multiplicative factor) by obtaining a lower bound of Ω(r logn/(logr + log logn)) for finding the first (leftmost one) live processor on an allocated-COMMON PRAM of sizen ofr-slow virtual processors (one processor simulatesr processors of allocated PRAM). As a result, for ordered chaining problem, “processor-time product” has to be at least Ω(n logn/log logn) for any poly-logarithmic time algorithm. Algorithm for ordered-chaining problem results in anO(logN/log logN) time algorithm for (stable) sorting ofn integers from the set {0,...,m ? 1} withn-processors on a COMMON CRCW PRAM; hereN = max(n, m). In particular if,m =n ^O(1), then sorting takes Θ(logn/log logn) time on both TOLERANT and COMMON CRCW PRAMs. Processor-time product for TOLERANT isO(n(log logn)²). Algorithm for COMMON usesn processors.     

Dominance made simple

In this note we show that it is extremely easy to answer dominance queries in three dimensions using only range minima routine (and a binary tree). The algorithm after preprocessing takes O(logn+S) time, where S is the size of output (after O(nlogn) time for pre-processing).The algorithm can also be used to answer 5-sided range queries, in same time bounds.     

Maintaining dynamic sequences under equality tests in polylogarithmic time

We present a randomized and a deterministic data structure for maintaining a dynamic family of sequences under equality tests of pairs of sequences and creations of new sequences by joining or splitting existing sequences. Both data structures support equality tests inO(1) time. The randomized version supports new sequence creations inO(log² n) expected time wheren is the length of the sequence created. The deterministic solution supports sequence creations inO(logn(logmlog^* m+logn)) time for themth operation. This work was supported by the ESPRIT Basic Research Actions Program, under Contract No. 7141 (Project ALCOM II).