The Art Gallery Problem (AGP) is a classic problem in computational geometry, introduced in 1973 by Victor Klee. Given a simple polygon 풫 and an integer k , the goal is to decide if there exists a set G of k guards within 풫 such that every point p ∈ 풫 is seen by at least one guard g ∈ G . Each guard corresponds to a point in the polygon 풫, and we say that a guard g sees a point p if the line segment pg is contained in 풫. We prove that the AGP is ∃ ℝ-complete, implying that (1) any system of polynomial equations over the real numbers can be encoded as an instance of the AGP, and (2) the AGP is not in the complexity class NP unless NP = ∃ ℝ. As a corollary of our construction, we prove that for any real algebraic number α, there is an instance of the AGP where one of the coordinates of the guards equals α in any guard set of minimum cardinality. That rules out many natural geometric approaches to the problem, as it shows that any approach based on constructing a finite set of candidate points for placing guards has to include points with coordinates being roots of polynomials with arbitrary degree. As an illustration of our techniques, we show that for every compact semi-algebraic set S ⊆ [0, 1] 2 , there exists a polygon with corners at rational coordinates such that for every p ∈ [0, 1] 2 , there is a set of guards of minimum cardinality containing p if and only if p ∈ S . In the ∃ ℝ-hardness proof for the AGP, we introduce a new ∃ ℝ-complete problem ETR-INV. We believe that this problem is of independent interest, as it has already been used to obtain ∃ ℝ-hardness proofs for other problems.

We give almost tight bounds for the online reordering buffer management problem on the uniform metric. Specifically, we present the first nontrivial lower bounds for this problem by showing that deterministic online algorithms have a competitive ratio of at least $\Omega(\sqrt{\log k/\log\log k})$ and randomized online algorithms have a competitive ratio of at least $\Omega(\log\log k)$, where $k$ denotes the size of the buffer. We complement this by presenting a deterministic online algorithm for the reordering buffer management problem that obtains a competitive ratio of $O(\sqrt{\log k})$, almost matching the lower bound. This improves upon an algorithm by Avigdor-Elgrabli and Rabani that achieves a competitive ratio of $O(\log k/\log\log k)$.

We present a (1+ε)-approximation algorithm with quasi-polynomial running time for computing a maximum weight independent set of polygons from a given set of polygons in the plane. Contrasting this, the best-known polynomial time algorithm for the problem has an approximation ratio of n ε . Surprisingly, we can extend the algorithm to the problem of computing the maximum cardinality subset of the given set of polygons whose intersection graph fulfills some sparsity condition. For example, we show that one can approximate the maximum subset of polygons such that the intersection graph of the subset is planar or does not contain a cycle of length 4 (i.e., K 2,2 ). Our algorithm relies on a recursive partitioning scheme, whose backbone is the existence of balanced cuts with small complexity that intersect polygons from the optimal solution of a small total weight. For the case of large axis-parallel rectangles, we provide a polynomial time (1 + ε)-approximation for the maximum weight independent set. Specifically, we consider the problem where each rectangle has one edge whose length is at least a constant fraction of the length of the corresponding edge of the bounding box of all the input elements. This is now the most general case for which a PTAS is known, and it requires a new and involved partitioning scheme, which should be of independent interest.

In the generalized caching problem, we have a set of pages and a cache of size k . Each page p has a size w p ≥ 1 and fetching cost c p for loading the page into the cache. At any point in time, the sum of the sizes of the pages stored in the cache cannot exceed k . The input consists of a sequence of page requests. If a page is not present in the cache at the time it is requested, it has to be loaded into the cache, incurring a cost of c p . We give a randomized O (log k )-competitive online algorithm for the generalized caching problem, improving the previous bound of O (log 2 k ) by Bansal, Buchbinder, and Naor (STOC’08). This improved bound is tight and of the same order as the known bounds for the classic paging problem with uniform weights and sizes. We use the same LP-based techniques as Bansal et al. but provide improved and slightly simplified methods for rounding fractional solutions online.

We give faster and simpler approximation algorithms for the (1,2)-TSP problem, a well-studied variant of the traveling salesperson problem where all distances between cities are either 1 or 2. Our main results are two approximation algorithms for (1,2)-TSP, one with approximation factor 8/7 and run time O(n^3) and the other having an approximation guarantee of 7/6 and run time O(n^{2.5}). The 8/7-approximation matches the best known approximation factor for (1,2)-TSP, due to Berman and Karpinski (SODA 2006), but considerably improves the previous best run time of O(n^9). Thus, ours is the first improvement for the (1,2)-TSP problem in more than 10 years. The algorithm is based on combining three copies of a minimum-cost cycle cover of the input graph together with a relaxed version of a minimum weight matching, which allows using "half-edges". The resulting multigraph is then edge-colored with four colors so that each color class yields a collection of vertex-disjoint paths. The paths from one color class can then be extended to an 8/7-approximate traveling salesperson tour. Our algorithm, and in particular its analysis, is simpler than the previously best 8/7-approximation. The 7/6-approximation algorithm is similar and even simpler, and has the advantage of not using Hartvigsen's complicated algorithm for computing a minimum-cost triangle-free cycle cover.

In this paper we consider the airport and railway problem (AR), which combines capacitated facility location with network design, both in the general metric and the two-dimensional Euclidean space. An instance of the airport and railway problem consists of a set of points in the corresponding metric, together with a non-negative weight for each point, and a parameter k. The points represent cities, the weights denote costs of opening an airport in the corresponding city, and the parameter k is a maximum capacity of an airport. The goal is to construct a minimum cost network of airports and railways connecting all the cities, where railways correspond to edges connecting pairs of points, and the cost of a railway is equal to the distance between the corresponding points. The network is partitioned into components, where each component contains an open airport, and spans at most k cities. For the Euclidean case, any points in the plane can be used as Steiner vertices of the network. We obtain the first bicriteria approximation algorithm for AR for the general metric case, which yields a 4-approximate solution with a resource augmentation of the airport capacity k by a factor of 2. More generally, for any parameter 0 < p <= 1 where pk is an integer we develop a (4/3)(2 + 1/p)-approximation algorithm for metric AR with a resource augmentation by a factor of 1 + p. Furthermore, we obtain the first constant factor approximation algorithm that does not resort to resource augmentation for AR in the Euclidean plane. Additionally, for the Euclidean setting we provide a quasi-polynomial time approximation scheme for the same problem with a resource augmentation by a factor of 1 + mu on the airport capacity, for any fixed mu > 0.

We consider very natural ”fence enclosure” problems studied by Capoyleas, Rote, and Woeginger and Arkin, Khuller, and Mitchell in the early 90s. Given a set S of n points in the plane, we aim at finding a set of closed curves such that (1) each point is enclosed by a curve and (2) the total length of the curves is minimized. We consider two main variants. In the first variant, we pay a unit cost per curve in addition to the total length of the curves. An equivalent formulation of this version is that we have to enclose n unit disks, paying only the total length of the enclosing curves. In the other variant, we are allowed to use at most k closed curves and pay no cost per curve.

We prove that the art gallery problem is equivalent under polynomial time reductions to deciding whether a system of polynomial equations over the real numbers has a solution. The art gallery problem is a classic problem in computational geometry, introduced in 1973 by Victor Klee. Given a simple polygon P and an integer k, the goal is to decide if there exists a set G of k guards within P such that every point p ∈ P is seen by at least one guard g∈ G. Each guard corresponds to a point in the polygon P, and we say that a guard g sees a point p if the line segment pg is contained in P.

We study a capacitated network design problem in a geometric setting. The input consists of an integral edge capacity $k$ and two sets of points on the Euclidean plane, sources, and sinks, with an integral demand for each point. The demand of each source specifies the amount of flow that has to be shipped from the source, and the demand of each sink specifies the amount of flow that has to be shipped to the sink. The goal is to construct a minimum-length network that allows one to route the requested flow from the sources to the sinks and where each edge in the network has capacity $k$. The vertices of the network are not constrained to the sets of sinks and sources---any point on the Euclidean plane can be used as a vertex. The flow is splittable and parallel edges are allowed. The capacitated geometric network design problem generalizes, among others, the geometric Steiner tree problem, and as such it is NP-hard. We show that if the demands are polynomially bounded and the edge capacity $k$ is not too large, the single-sink capacitated geometric network design problem admits a polynomial time approximation scheme. If the capacity is arbitrarily large, then we design a quasi-polynomial time approximation scheme for the capacitated geometric network design problem allowing for an arbitrary number of sinks. Our results rely on a derivation of an upper bound on the number of vertices different from sources and sinks (the so-called Steiner vertices) in an optimal network. The bound is polynomial in the total demand of the sources.

In this paper we study the art gallery problem, which is one of the fundamental problems in computational geometry. The objective is to place a minimum number of guards inside a simple polygon so that the guards together can see the whole polygon. We say that a guard at position x sees a point y if the line segment xy is contained in the polygon. Despite an extensive study of the art gallery problem, it remained an open question whether there are polygons given by integer coordinates that require guard positions with irrational coordinates in any optimal solution. We give a positive answer to this question by constructing a monotone polygon with integer coordinates that can be guarded by three guards only when we allow to place the guards at points with irrational coordinates. Otherwise, four guards are needed. By extending this example, we show that for every n, there is a polygon which can be guarded by 3n guards with irrational coordinates but needs 4n guards if the coordinates have to be rational. Subsequently, we show that there are rectilinear polygons given by integer coordinates that require guards with irrational coordinates in any optimal solution.

We introduce a new framework of Airport and Railway Problems, which combines capacitated facility location with network design. In this framework we are given a graph with weights on the vertices and on the edges, together with a parameter k. The vertices of the graph represent cities, and weights denote respectively the costs of opening airports in the cities and building railways that connect pairs of cities. The parameter $k$ can be thought of as the capacity of an airport. The goal is to construct a minimum cost network of airports and railways connecting the cities, where each connected component in the network spans at most k vertices, contains an open airport, and the network satisfies some additional requirements specific to the problem in the framework. We consider two problems in this framework. In the AR_F problem there are no additional requirements for the network. This problem is related to capacitated facility location. In the AR_P problem, we require each component to be a path with airports at both endpoints. AR_P is a relaxation of the capacitated vehicle routing problem (CVRP). We consider the problems in the two-dimensional Euclidean setting. We show that both AR_F and AR_P are NP-hard, even for uniform vertex weights (i.e., when the cost of building an airport is the same for all cities). On the positive side, we provide polynomial time approximation schemes for AR_F and AR_P when vertex weights are uniform. We also investigate AR_F and AR_P for k = infinity. In this setting we present an exact polynomial time algorithm for AR_F with general vertex costs, which also works for general edge costs. In contrast to AR_F, AR_P remains NP-hard when k = infinity, and we present a polynomial time approximation scheme for general vertex weights. We believe that our PTAS for AR_P with uniform vertex weights and arbitrary k brings us closer towards a PTAS for Euclidean CVRP, for which the main difficulty is to deal with paths of length at most k.

In the Maximum Weight Independent Set of Rectangles (MWISR) problem, we are given a collection of weighted axis-parallel rectangles in the plane. Our goal is to compute a maximum weight subset of pairwise non-overlapping rectangles. Due to its various applications, as well as connections to many other problems in computer science, MWISR has received a lot of attention from the computational geometry and the approximation algorithms community. However, despite being extensively studied, MWISR remains not very well understood in terms of polynomial time approximation algorithms, as there is a large gap between the upper and lower bounds, i.e., O(log n\ loglog n) v.s. NP-hardness. Another important, poorly understood question is whether one can color rectangles with at most O(omega(R)) colors where omega(R) is the size of a maximum clique in the intersection graph of a set of input rectangles R. Asplund and Grünbaum obtained an upper bound of O(omega(R)^2) about 50 years ago, and the result has remained asymptotically best. This question is strongly related to the integrality gap of the canonical LP for MWISR. In this paper, we settle above three open problems in a relaxed model where we are allowed to shrink the rectangles by a tiny bit (rescaling them by a factor of 1-delta for an arbitrarily small constant delta > 0. Namely, in this model, we show (i) a PTAS for MWISR and (ii) a coloring with O(omega(R)) colors which implies a constant upper bound on the integrality gap of the canonical LP. For some applications of MWISR the possibility to shrink the rectangles has a natural, well-motivated meaning. Our results can be seen as an evidence that the shrinking model is a promising way to relax a geometric problem for the purpose of better algorithmic results.

We consider the two-dimensional geometric knapsack problem defined as follows. Given a collection of rectangular axis-parallel items with weights, we want to find a maximum weight subset of the items that can be packed into a rectangular knapsack, i.e., which can be assigned positions within the knapsack such that the items are pair-wise non-overlapping. The goal is to compute the optimal collection of items together with a feasible packing. The problem arises naturally in several applications, and various special cases of the problem have been studied. For the general case the best known result is a (2 + ε)-approximation algorithm, while the only hardness result is NP-hardness. Our main result is a (1 + ε)-approximation algorithm that runs in quasi-polynomial time, provided that the input data consists of (quasi-)polynomially bounded integers. We achieve this result in the setting with and without allowing rotation of the items. Our key technical contribution is to show the existence of a partition for the knapsack into a small number of rectangular boxes. Intuitively, this partition describes the segmentation of the knapsack in some near-optimal solution into large items, areas containing items that are high and thin, and areas containing items that are small and wide. Handling the interaction between these three types of items is a core bottleneck in the design of approximation algorithms for the problem and our partition allows to control this at only marginal cost. In particular, it is so powerful that we do not even need to round the sizes of the items, which is a canonical step in algorithms for geometric knapsack, geometric bin-packing, etc. Finally, we present new algorithms for twodimensional knapsack and two-dimensional bin-packing under (1 + ∊)-resource augmentation with a substantially better running time dependence on ∊ (although at the expense of requiring quasi-polynomial time). The objective value of our computed solutions is as good as the optimum without additional resources. Here we exploit a recent result showing the existence of certain low-complexity low weight separators for sets of non-overlapping rectangles.

The Maximum Weight Independent Set of Polygons (MWISP) problem is a fundamental problem in computational geometry. Given a set of weighted polygons in the two-dimensional plane, the goal is to find a set of pairwise non-overlapping polygons with maximum total weight. Due to its wide range of applications and connections to other problems, the MWISP problem and its special cases have been extensively studied both in the approximation algorithms and the computational geometry community. Despite a lot of research, its general case is not well-understood yet. Currently the best known polynomial time algorithm achieves an approximation ratio of n∊, and it is not even clear whether the problem is APX-hard. We present a (1 + ∊)-approximation algorithm, assuming that each polygon in the input has at most a polylogarithmic number of vertices. Our algorithm has quasi-polynomial running time, i.e., it runs in time 2poly(logn,1/∊). In particular, our result implies that for this setting the problem is not APX-hard, unless NP ⊆ DTIME(2poly(logn)). We use a recently introduced framework for approximating maximum weight independent set in geometric intersection graphs. The framework has been used to construct a QPTAS in the much simpler case of axis-parallel rectangles. We extend it in two ways, to adapt it to our much more general setting. First, we show that its technical core can be reduced to the case when all input polygons are triangles. Secondly, we replace its key technical ingredient which is a method to partition the plane using only few edges such that the objects stemming from the optimal solution are evenly distributed among the resulting faces and each object is intersected only a few times. Our new procedure for this task is no more complicated than the original one and, importantly, it can handle the difficulties arising from the arbitrary angles of the input polygons. Note that already this obstacle makes the known analysis for the above framework fail. Also, in general it is not well understood how to handle this difficulty by efficient approximation algorithms.

In the Maximum Weight Independent Set of Rectangles (MWISR) problem we are given a set of n axis-parallel rectangles in the 2D-plane, and the goal is to select a maximum weight subset of pairwise non-overlapping rectangles. Due to many applications, e.g. in data mining, map labeling and admission control, the problem has received a lot of attention by various research communities. We present the first (1 + ε)-approximation algorithm for the MWISR problem with quasipolynomial running time 2poly(log n/ε). In contrast, the best known polynomial time approximation algorithms for the problem achieve superconstant approximation ratios of O(log log n) (unweighted case) and O(log n/log log n) (weighted case). Key to our results is a new geometric dynamic program which recursively subdivides the plane into polygons of bounded complexity. We provide the technical tools that are needed to analyze its performance. In particular, we present a method of partitioning the plane into small and simple areas such that the rectangles of an optimal solution are intersected in a very controlled manner. Together with a novel application of the weighted planar graph separator theorem due to Arora et al. [4] this allows us to upper bound our approximation ratio by 1 + ε. Our dynamic program is very general and we believe that it will be useful for other settings. In particular, we show that, when parametrized properly, it provides a polynomial time (1 + ε)-approximation for the special case of the MWISR problem when each rectangle is relatively large in at least one dimension. Key to this analysis is a method to tile the plane in order to approximately describe the topology of these rectangles in an optimal solution. This technique might be a useful insight to design better polynomial time approximation algorithms or even a PTAS for the MWISR problem. In particular, note that our results imply that the MWISR problem is not APX-hard, unless NP ⊆ DTIME(2polylog (n)).

In the generalized caching problem, we have a set of pages and a cache of size k. Each page p has a size wp ≥ 1 and fetching cost cp for loading the page into the cache. At any point in time, the sum of the sizes of the pages stored in the cache cannot exceed k. The input consists of a sequence of page requests. If a page is not present in the cache at the time it is requested, it has to be loaded into the cache incurring a cost of cp. We give a randomized O(log k)-competitive online algorithm for the generalized caching problem, improving the previous bound of O(log2 k) by Bansal, Buchbinder, and Naor (STOC'08). This improved bound is asymptotically tight and of the same order as the known bounds for the classic problem with uniform weights and sizes. We follow the LP based techniques proposed Bansal et al. and our main contribution are improved and slightly simplified methods for rounding fractional solutions online.

We introduce a buffer scheduling problem for block operation devices in an online setting. We consider a stream of items of different types to be processed by a block device. The block device can process all items of the same type in a single step. To improve the performance of the system a buffer of size k is used to store items in order to reduce the number of operations required. Whenever the buffer becomes full a buffer scheduling strategy has to select one type and then a block operation on all elements with this type that are currently in the buffer is performed. The goal is to design a scheduling strategy that minimizes the number of block operations required. In this paper we consider the online version of this problem, where the buffer scheduling strategy must make decisions without knowing the future items that appear in the input stream. Our main result is the design of an O(log log k)-competitive online randomized buffer scheduling strategy. The bound is asymptotically tight. As a byproduct of our LP-based techniques, we obtain a randomized offline algorithm that approximates the optimal number of block operations to within a constant factor.

We give almost tight bounds for the online reordering buffer management problem on the uniform metric. Specifically, we present the first non-trivial lower bounds for this problem by showing that deterministic online algorithms have a competitive ratio of at least Ω(√{log k/log log k}) and randomized online algorithms have a competitive ratio of at least Ω(log log k), where k denotes the size of the buffer.

We study the problem of recognizing graph powers and computing roots of graphs. We provide a polynomial time recognition algorithm for $r$-th powers of graphs of girth at least $2r+3$, thus improving a bound conjectured by Farzad et al. (STACS 2009). Our algorithm also finds all $r$-th roots of a given graph that have girth at least $2r+3$ and no degree one vertices, which is a step towards a recent conjecture of Levenshtein that such root should be unique. On the negative side, we prove that recognition becomes an NP-complete problem when the bound on girth is about twice smaller. Similar results have so far only been attempted for $r=2,3$.

We study the problem of recognizing graph powers and computing roots of graphs. Our focus is on classes of graphs with no short cycles. We provide a polynomial time recognition algorithm for r-th powers of graphs of girth at least $2r+3$, thus improving a recently conjectured bound. Our algorithm also finds all r-th roots of a given graph that have girth at least $2r+3$ and no degree one vertices, which is a step toward a recent conjecture of Levenshtein [Discrete Math., 308 (2008), pp. 993–998] that such roots should be unique. Similar algorithms have so far been designed only for $r=2,3$. On the negative side, we prove that recognition of graph powers becomes an NP-complete problem when the bound on girth is about twice smaller. (Anna Adamaszek's correct affiliation is Department of Computer Science and Centre for Discrete Mathematics and Its Applications (DIMAP), University of Warwick, Coventry, CV4 7AL, UK.)