In the longest plane spanning tree problem, we are given a finite planar point set \(\mathcal{P}\) , and our task is to find a plane (i.e., noncrossing) spanning tree for \(\mathcal{P}\) with maximum total Euclidean edge length. Despite more than two decades of research, it remains open whether this problem is NP-hard. Thus, previous results have focused on polynomial-time algorithms that produce plane trees whose total edge length approximates \(\mathrm{OPT}\) , the maximum possible length. The approximate trees in these algorithms all have small unweighted diameter, typically two to four. It is natural to ask whether this is a common feature of longest plane spanning trees, or an artifact of the specific approximation algorithms. We provide three results to elucidate the interplay between the approximation guarantee and the unweighted diameter of the approximate trees. First, we describe a polynomial-time algorithm to construct a plane tree with diameter at most four and total edge length at least \(0.546\cdot\mathrm{OPT}\) . This constitutes a substantial improvement over the state of the art. Second, we show that a longest plane tree among those with diameter at most three can be found in polynomial time. Third, for any candidate diameter \(d\geq 3\) , we provide upper bounds on the approximation factor that can be achieved by a longest plane tree with diameter at most \( d \) (compared to a longest plane tree without constraints).

Abstract Let $$S \subseteq \mathbb {R}^2$$ S ⊆ R 2 be a set of nsites in the plane, so that every site $$s \in S$$ s ∈ S has an associated radius $$r_s > 0$$ r s > 0 . Let $$\mathcal {D}(S)$$ D ( S ) be the disk intersection graph defined by S, i.e., the graph with vertex set S and an edge between two distinct sites $$s, t \in S$$ s , t ∈ S if and only if the disks with centers s, t and radii $$r_s$$ r s , $$r_t$$ r t intersect. Our goal is to design data structures that maintain the connectivity structure of $$\mathcal {D}(S)$$ D ( S ) as sites are inserted and/or deleted in S. First, we consider unit disk graphs, i.e., we fix $$r_s = 1$$ r s = 1 , for all sites $$s \in S$$ s ∈ S . For this case, we describe a data structure that has $$O(\log ^2 n)$$ O ( log 2 n ) amortized update time and $$O(\log n/\log \log n)$$ O ( log n / log log n ) query time. Second, we look at disk graphs with bounded radius ratio $$\Psi $$ Ψ , i.e., for all $$s \in S$$ s ∈ S , we have $$1 \le r_s \le \Psi $$ 1 ≤ r s ≤ Ψ , for a parameter $$\Psi $$ Ψ that is known in advance. Here, we not only investigate the fully dynamic case, but also the incremental and the decremental scenario, where only insertions or only deletions of sites are allowed. In the fully dynamic case, we achieve amortized expected update time $$O(\Psi \log ^{4} n)$$ O ( Ψ log 4 n ) and query time $$O(\log n/\log \log n)$$ O ( log n / log log n ) . This improves the currently best update time by a factor of $$\Psi $$ Ψ . In the incremental case, we achieve logarithmic dependency on $$\Psi $$

Let $G$ be an intersection graph of $n$ geometric objects in the plane. We show that a maximum matching in $G$ can be found in $O(\rho^{3\omega/2}n^{\omega/2})$ time with high probability, where $\rho$ is the density of the geometric objects and $\omega>2$ is a constant such that $n \times n$ matrices can be multiplied in $O(n^\omega)$ time. The same result holds for any subgraph of $G$, as long as a geometric representation is at hand. For this, we combine algebraic methods, namely computing the rank of a matrix via Gaussian elimination, with the fact that geometric intersection graphs have small separators. We also show that in many interesting cases, the maximum matching problem in a general geometric intersection graph can be reduced to the case of bounded density. In particular, a maximum matching in the intersection graph of any family of translates of a convex object in the plane can be found in $O(n^{\omega/2})$ time with high probability, and a maximum matching in the intersection graph of a family of planar disks with radii in $[1, \Psi]$ can be found in $O(\Psi^6\log^{11} n + \Psi^{12 \omega} n^{\omega/2})$ time with high probability.

Abstract Tverberg’s theorem states that for any $$k\ge 2$$ k ≥ 2 and any set $$P\subset {\mathbb {R}}^d$$ P ⊂ R d of at least $$(d+1)(k-1)+1$$ ( d + 1 ) ( k - 1 ) + 1 points in d dimensions, we can partition P into k subsets whose convex hulls have a non-empty intersection. The associated search problem of finding the partition lies in the complexity class $$\text {CLS} = \text {PPAD} \cap \text {PLS}$$ CLS = PPAD ∩ PLS , but no hardness results are known. In the colorful Tverberg theorem, the points in P have colors, and under certain conditions, P can be partitioned into colorful sets, in which each color appears exactly once and whose convex hulls intersect. To date, the complexity of the associated search problem is unresolved. Recently, Adiprasito, Bárány, and Mustafa (SODA 2019) gave a no-dimensional Tverberg theorem, in which the convex hulls may intersect in an approximate fashion. This relaxes the requirement on the cardinality of P. The argument is constructive, but does not result in a polynomial-time algorithm. We present a deterministic algorithm that finds for any n-point set $$P\subset {\mathbb {R}}^d$$ P ⊂ R d and any $$k\in \{2,\dots ,n\}$$ k ∈ { 2 , ⋯ , n } in $$O(nd\lceil {\log k}\rceil )$$ O ( n d ⌈ log k ⌉ ) time a k-partition of P such that there is a ball of radius $$O((k/\sqrt{n}){\text {diam}}(P))$$ O ( ( k / n ) diam ( P ) ) that intersects the convex hull of each set. Given that this problem is not known to be solvable exactly in polynomial time, our result provides a remarkably efficient and simple new notion of approximation. Our main contribution is to generalize Sarkaria’s method (Israel Journal Math., 1992) to reduce the Tverberg problem to the colorful Carathéodory problem (in the simplified tensor product interpretation of Bárány and Onn) and to apply it algorithmically. It turns out that this not only leads to an alternative algorithmic proof of a no-dimensional Tverberg theorem, but it also generalizes to other settings such as the colorful variant of the problem.

We present efficient dynamic data structures for maintaining the union of unit discs and the lower envelope of pseudo-lines in the plane. More precisely, we present three main results in this paper: (i) We present a linear-size data structure to maintain the union of a set of unit discs under insertions. It can insert a disc and update the union in O (( k +1)log 2 n ) time, where n is the current number of unit discs and k is the combinatorial complexity of the structural change in the union due to the insertion of the new disc. It can also compute, within the same time bound, the area of the union after the insertion of each disc. (ii) We propose a linear-size data structure for maintaining the lower envelope of a set of x -monotone pseudo-lines. It can handle insertion/deletion of a pseudo-line in O (log 2 n ) time; for a query point x 0 ∈ ℝ, it can report, in O (log n ) time, the point on the lower envelope with x -coordinate x 0 ; and for a query point q ∈ ℝ 2 , it can return all k pseudo-lines lying below q in time O (log n + k log 2 n ). (iii) We present a linear-size data structure for storing a set of circular arcs of unit radius (not necessarily on the boundary of the union of the corresponding discs), so that for a query unit disc D , all input arcs intersecting D can be reported in O ( n 1/2+ɛ + k ) time, where k is the output size and ɛ > 0 is an arbitrarily small constant. A unit-circle arc can be inserted or deleted in O (log 2 n ) time.

Let D be a set of n disks in the plane. The disk graph G D for D is the undirected graph with vertex set D in which two disks are joined by an edge if and only if they intersect. The directed transmission graph G D → for D is the directed graph with vertex set D in which there is an edge from a disk D 1 ∈ D to a disk D 2 ∈ D if and only if D 1 contains the center of D 2 . Given D and two non-intersecting disks s , t ∈ D , we show that a minimum s - t vertex cut in G D or in G D → can be found in O ( n 3 / 2 polylog n ) expected time. To obtain our result, we combine an algorithm for the maximum flow problem in general graphs with dynamic geometric data structures to manipulate the disks. As an application, we consider the barrier resilience problem in a rectangular domain. In this problem, we have a vertical strip S bounded by two vertical lines, L ℓ and L r , and a collection D of disks. Let a be a point in S above all disks of D , and let b a point in S below all disks of D . The task is to find a curve from a to b that lies in S and that intersects as few disks of D as possible. Using our improved algorithm for minimum cuts in disk graphs, we can solve the barrier resilience problem in O ( n 3 / 2 polylog n ) expected time.

Let $P=(p_1, p_2, \dots, p_n)$ be a polygonal chain in $\mathbb{R}^d$. The stretch factor of $P$ is the ratio between the total length of $P$ and the distance of its endpoints, $\sum_{i = 1}^{n-1} |p_i p_{i+1}|/|p_1 p_n|$. For a parameter $c \geq 1$, we call $P$ a $c$-chain if $|p_ip_j|+|p_jp_k| \leq c|p_ip_k|$ for every triple $(i,j,k)$, $1 \leq i 0$, there is a noncrossing $c$-chain that has stretch factor $\Omega(n^{1/2-\varepsilon})$ for sufficiently large constant $c=c(\varepsilon)$; (ii) on the other hand, the stretch factor of a $c$-chain $P$ is $O(n^{1/2})$ for every constant $c\geq 1$, regardless of whether $P$ is crossing or noncrossing; and (iii) we give a randomized algorithm that can determine, for a polygonal chain $P$ in $\mathbb{R}^2$ with $n$ vertices, the minimum $c\geq 1$ for which $P$ is a $c$-chain in $O(n^{2.5}\ {\rm polylog}\ n)$ expected time and $O(n\log n)$ space. These results generalize to $\mathbb{R}^d$. For every dimension $d\geq 2$ and every $\varepsilon>0$, we construct a noncrossing $c$-chain that has stretch factor $\Omega(n^{(1-\varepsilon)(d-1)/d})$; on the other hand, the stretch factor of any $c$-chain is $O((n-1)^{(d-1)/d})$; for every $c>1$, we can test whether an $n$-vertex chain in $\mathbb{R}^d$ is a $c$-chain in $O(n^{3-1/d}\ {\rm polylog}\ n)$ expected time and $O(n\log n)$ space.

Tverberg’s theorem states that for any k ≥ 2 and any set P ⊂ ℝ^d of at least (d + 1)(k - 1) + 1 points, we can partition P into k subsets whose convex hulls have a non-empty intersection. The associated search problem lies in the complexity class PPAD ∩ PLS, but no hardness results are known. In the colorful Tverberg theorem, the points in P have colors, and under certain conditions, P can be partitioned into colorful sets, in which each color appears exactly once and whose convex hulls intersect. To date, the complexity of the associated search problem is unresolved. Recently, Adiprasito, Bárány, and Mustafa [SODA 2019] gave a no-dimensional Tverberg theorem, in which the convex hulls may intersect in an approximate fashion. This relaxes the requirement on the cardinality of P. The argument is constructive, but does not result in a polynomial-time algorithm. We present a deterministic algorithm that finds for any n-point set P ⊂ ℝ^d and any k ∈ {2, … , n} in O(nd ⌈log k⌉) time a k-partition of P such that there is a ball of radius O((k/√n)diam(P)) that intersects the convex hull of each set. Given that this problem is not known to be solvable exactly in polynomial time, and that there are no approximation algorithms that are truly polynomial in any dimension, our result provides a remarkably efficient and simple new notion of approximation. Our main contribution is to generalize Sarkaria’s method [Israel Journal Math., 1992] to reduce the Tverberg problem to the Colorful Carathéodory problem (in the simplified tensor product interpretation of Bárány and Onn) and to apply it algorithmically. It turns out that this not only leads to an alternative algorithmic proof of a no-dimensional Tverberg theorem, but it also generalizes to other settings such as the colorful variant of the problem.

Let $P$ be a set of $2n$ points in convex position, such that $n$ points are colored red and $n$ points are colored blue. A non-crossing alternating path on $P$ of length $\ell$ is a sequence $p_1, \dots, p_\ell$ of $\ell$ points from $P$ so that (i) all points are pairwise distinct; (ii) any two consecutive points $p_i$, $p_{i+1}$ have different colors; and (iii) any two segments $p_i p_{i+1}$ and $p_j p_{j+1}$ have disjoint relative interiors, for $i \neq j$. We show that there is an absolute constant $\varepsilon > 0$, independent of $n$ and of the coloring, such that $P$ always admits a non-crossing alternating path of length at least $(1 + \varepsilon)n$. The result is obtained through a slightly stronger statement: there always exists a non-crossing bichromatic separated matching on at least $(1 + \varepsilon)n$ points of $P$. This is a properly colored matching whose segments are pairwise disjoint and intersected by common line. For both versions, this is the first improvement of the easily obtained lower bound of $n$ by an additive term linear in $n$. The best known published upper bounds are asymptotically of order $4n/3+o(n)$.

The classic Ham-Sandwich theorem states that for any $d$ measurable sets in $\mathbb{R}^d$, there is a hyperplane that bisects them simultaneously. An extension by Bárány, Hubard, and Jerónimo [DCG 2008] states that if the sets are convex and \emph{well-separated}, then for any given $α_1, \dots, α_d \in [0, 1]$, there is a unique oriented hyperplane that cuts off a respective fraction $α_1, \dots, α_d$ from each set. Steiger and Zhao [DCG 2010] proved a discrete analogue of this theorem, which we call the \emph{$α$-Ham-Sandwich theorem}. They gave an algorithm to find the hyperplane in time $O(n (\log n)^{d-3})$, where $n$ is the total number of input points. The computational complexity of this search problem in high dimensions is open, quite unlike the complexity of the Ham-Sandwich problem, which is now known to be PPA-complete (Filos-Ratsikas and Goldberg [STOC 2019]). Recently, Fearley, Gordon, Mehta, and Savani [ICALP 2019] introduced a new sub-class of CLS (Continuous Local Search) called \emph{Unique End-of-Potential Line} (UEOPL). This class captures problems in CLS that have unique solutions. We show that for the $α$-Ham-Sandwich theorem, the search problem of finding the dividing hyperplane lies in UEOPL. This gives the first non-trivial containment of the problem in a complexity class and places it in the company of classic search problems such as finding the fixed point of a contraction map, the unique sink orientation problem and the $P$-matrix linear complementarity problem.

Let V ⊂ ℝ² be a set of n sites in the plane. The unit disk graph DG(V) of V is the graph with vertex set V where two sites v and w are adjacent if and only if their Euclidean distance is at most 1. We develop a compact routing scheme ℛ for DG(V). The routing scheme ℛ preprocesses DG(V) by assigning a label 𝓁(v) to every site v in V. After that, for any two sites s and t, the scheme ℛ must be able to route a packet from s to t as follows: given the label of a current vertex r (initially, r = s), the label of the target vertex t, and additional information in the header of the packet, the scheme determines a neighbor r' of r. Then, the packet is forwarded to r', and the process continues until the packet reaches its desired target t. The resulting path between the source s and the target t is called the routing path of s and t. The stretch of the routing scheme is the maximum ratio of the total Euclidean length of the routing path and of the shortest path in DG(V), between any two sites s, t ∈ V. We show that for any given ε > 0, we can construct a routing scheme for DG(V) with diameter D that achieves stretch 1+ε, has label size (1/ε)^{O(ε^(-2))} log Dlog³n/log log n, and the header has at most O(log²n/log log n) bits. In the past, several routing schemes for unit disk graphs have been proposed. Our scheme achieves poly-logarithmic label and header size, small stretch and does not use any neighborhood oracles.

Abstract We describe a new data structure for dynamic nearest neighbor queries in the plane with respect to a general family of distance functions. These include $$L_p$$ L p -norms and additively weighted Euclidean distances. Our data structure supports general (convex, pairwise disjoint) sites that have constant description complexity (e.g., points, line segments, disks, etc.). Our structure uses $$O(n \log ^3 n)$$ O ( n log 3 n ) storage, and requires polylogarithmic update and query time, improving an earlier data structure of Agarwal, Efrat, and Sharir which required $$O(n^{\varepsilon })$$ O ( n ε ) time for an update and $$O(\log n)$$ O ( log n ) time for a query [SICOMP 1999]. Our data structure has numerous applications. In all of them, it gives faster algorithms, typically reducing an $$O(n^{\varepsilon })$$ O ( n ε ) factor in the previous bounds to polylogarithmic. In addition, we give here two new applications: an efficient construction of a spanner in a disk intersection graph, and a data structure for efficient connectivity queries in a dynamic disk graph. To obtain this data structure, we combine and extend various techniques from the literature. Along the way, we obtain several side results that are of independent interest. Our data structure depends on the existence and an efficient construction of “vertical” shallow cuttings in arrangements of bivariate algebraic functions. We prove that an appropriate level in an arrangement of a random sample of a suitable size provides such a cutting. To compute it efficiently, we develop a randomized incremental construction algorithm for computing the lowest k levels in an arrangement of bivariate algebraic functions (we mostly consider here collections of functions whose lower envelope has linear complexity, as is the case in the dynamic nearest-neighbor context, under both types of norm). To analyze this algorithm, we also improve a longstanding bound on the combinatorial complexity of the vertical decomposition of these levels. Finally, to obtain our structure, we combine our vertical shallow cutting construction with Chan’s algorithm for efficiently maintaining the lower envelope of a dynamic set of planes in $${{\mathbb {R}}}^3$$ R 3 . Along the way, we also revisit Chan’s technique and present a variant that uses a single binary counter, with a simpler analysis and improved amortized deletion time (by a logarithmic factor; the insertion and query costs remain asymptotically the same).

We present efficient data structures for problems on unit discs and arcs of their boundary in the plane. (i) We give an output-sensitive algorithm for the dynamic maintenance of the union of n unit discs under insertions in O(k log^2 n) update time and O(n) space, where k is the combinatorial complexity of the structural change in the union due to the insertion of the new disc. (ii) As part of the solution of (i) we devise a fully dynamic data structure for the maintenance of lower envelopes of pseudo-lines, which we believe is of independent interest. The structure has O(log^2 n) update time and O(log n) vertical ray shooting query time. To achieve this performance, we devise a new algorithm for finding the intersection between two lower envelopes of pseudo-lines in O(log n) time, using tentative binary search; the lower envelopes are special in that at x=-infty any pseudo-line contributing to the first envelope lies below every pseudo-line contributing to the second envelope. (iii) We also present a dynamic range searching structure for a set of circular arcs of unit radius (not necessarily on the boundary of the union of the corresponding discs), where the ranges are unit discs, with O(n log n) preprocessing time, O(n^{1/2+epsilon} + l) query time and O(log^2 n) amortized update time, where l is the size of the output and for any epsilon>0. The structure requires O(n) storage space.

Let $S \subset \mathbb{R}^2$ be a set of $n$ sites, where each $s \in S$ has an associated radius $r_s > 0$. The disk graph $D(S)$ is the undirected graph with vertex set $S$ and an undirected edge between two sites $s, t \in S$ if and only if $|st| \leq r_s + r_t$, i.e., if the disks with centers $s$ and $t$ and respective radii $r_s$ and $r_t$ intersect. Disk graphs are used to model sensor networks. Similarly, the transmission graph $T(S)$ is the directed graph with vertex set $S$ and a directed edge from a site $s$ to a site $t$ if and only if $|st| \leq r_s$, i.e., if $t$ lies in the disk with center $s$ and radius $r_s$. We provide algorithms for detecting (directed) triangles and, more generally, computing the length of a shortest cycle (the girth) in $D(S)$ and in $T(S)$. These problems are notoriously hard in general, but better solutions exist for special graph classes such as planar graphs. We obtain similarly efficient results for disk graphs and for transmission graphs. More precisely, we show that a shortest (Euclidean) triangle in $D(S)$ and in $T(S)$ can be found in $O(n \log n)$ expected time, and that the (weighted) girth of $D(S)$ can be found in $O(n \log n)$ expected time. For this, we develop new tools for batched range searching that may be of independent interest.

Let P=(p_1, p_2, ..., p_n) be a polygonal chain. The stretch factor of P is the ratio between the total length of P and the distance of its endpoints, sum_{i = 1}^{n-1} |p_i p_{i+1}|/|p_1 p_n|. For a parameter c >= 1, we call P a c-chain if |p_ip_j|+|p_jp_k| <= c|p_ip_k|, for every triple (i,j,k), 1 <= i 0, there is a noncrossing c-chain that has stretch factor Omega(n^{1/2-epsilon}), for sufficiently large constant c=c(epsilon); (ii) on the other hand, the stretch factor of a c-chain P is O(n^{1/2}), for every constant c >= 1, regardless of whether P is crossing or noncrossing; and (iii) we give a randomized algorithm that can determine, for a polygonal chain P in R^2 with n vertices, the minimum c >= 1 for which P is a c-chain in O(n^{2.5} polylog n) expected time and O(n log n) space.

Motivated by map labeling, Funke, Krumpe, and Storandt [IWOCA 2016] introduced the following problem: we are given a sequence of n disks in the plane. Initially, all disks have radius 0, and they grow at constant, but possibly different, speeds. Whenever two disks touch, the one with the higher index disappears. The goal is to determine the elimination order, i.e., the order in which the disks disappear. We provide the first general subquadratic algorithm for this problem. Our solution extends to other shapes (e.g., rectangles), and it works in any fixed dimension. We also describe an alternative algorithm that is based on quadtrees. Its running time is O ( n ( log ⁡ n + min ⁡ { log ⁡ Δ , log ⁡ Φ } ) ) , where Δ is the ratio of the fastest and the slowest growth rate and Φ is the ratio of the largest and the smallest distance between two disk centers. This improves the running times of previous algorithms by Funke, Krumpe, and Storandt [IWOCA 2016], Bahrdt et al. [ALENEX 2017], and Funke and Storandt [EuroCG 2017]. Finally, we give an Ω ( n log ⁡ n ) lower bound, showing that our quadtree algorithms are almost tight.

Our goal is to compare two planar point sets by finding subsets of a given size such that a minimum-weight matching between them has the smallest weight. This can be done by a translation of one set that minimizes the weight of the matching. We give efficient algorithms (a) for finding approximately optimal matchings, when the cost of a matching is the L_p-norm of the tuple of the Euclidean distances between the pairs of matched points, for any p in [1,infty], and (b) for constructing small-size approximate minimization (or matching) diagrams: partitions of the translation space into regions, together with an approximate optimal matching for each region.

Suppose we are given a set D of n pairwise intersecting disks in the plane. A planar point set P stabs D if and only if each disk in D contains at least one point from P. We present a deterministic algorithm that takes O(n) time to find five points that stab D. Furthermore, we give a simple example of 13 pairwise intersecting disks that cannot be stabbed by three points. This provides a simple - albeit slightly weaker - algorithmic version of a classical result by Danzer that such a set D can always be stabbed by four points.

Let $P \subset \mathbb{R}^2$ be a planar $n$-point set such that each point $p \in P$ has an associated radius $r_p > 0$. The transmission graph $G$ for $P$ is the directed graph with vertex set $P$ such that for any $p, q \in P$, there is an edge from $p$ to $q$ if and only if $d(p, q) \leq r_p$. Let $t > 1$ be a constant. A $t$-spanner for $G$ is a subgraph $H \subseteq G$ with vertex set $P$ so that for any two vertices $p,q \in P$, we have $d_H(p, q) \leq t d_G(p, q)$, where $d_H$ and $d_G$ denote the shortest path distance in $H$ and $G$, respectively (with Euclidean edge lengths). We show how to compute a $t$-spanner for $G$ with $O(n)$ edges in $O(n (\log n + \log \Psi))$ time, where $\Psi$ is the ratio of the largest and smallest radius of a point in $P$. Using more advanced data structures, we obtain a construction that runs in $O(n \log^5 n)$ time, independent of $\Psi$. We give two applications for our spanners. First, we show how to use our spanner to find a BFS tree in $G$ from any given start vertex in $O(n \log n)$ time (in addition to the time it takes to build the spanner). Second, we show how to use our spanner to extend a reachability oracle to answer geometric reachability queries. In a geometric reachability query we ask whether a vertex $p$ in $G$ can “reach” a target $q$ which is an arbitrary point in the plane (rather than restricted to be another vertex $q$ of $G$ in a standard reachability query). Our spanner allows the reachability oracle to answer geometric reachability queries with an additive overhead of $O(\log n\log \Psi)$ to the query time and $O(n \log \Psi)$ to the space.

Motivated by map labeling, we study the problem in which we are given a collection of n disks in the plane that grow at possibly different speeds. Whenever two disks meet, the one with the higher index disappears. This problem was introduced by Funke, Krumpe, and Storandt[IWOCA 2016]. We provide the first general subquadratic algorithm for computing the times and the order of disappearance. Our algorithm also works for other shapes (such as rectangles) and in any fixed dimension. Using quadtrees, we provide an alternative algorithm that runs in near linear time, although this second algorithm has a logarithmic dependence on either the ratio of the fastest speed to the slowest speed of disks or the spread of the disk centers (the ratio of the maximum to the minimum distance between them). Our result improves the running times of previous algorithms by Funke, Krumpe, and Storandt [IWOCA 2016], Bahrdt et al. [ALENEX 2017], and Funke and Storandt [EWCG 2017]. Finally, we give an \Omega(n\log n) lower bound on the problem, showing that our quadtree algorithms are almost tight.

We consider the problem of routing a data packet through the visibility graph of a polygonal domain P with n vertices and h holes. We may preprocess P to obtain a label and a routing table for each vertex. Then, we must be able to route a data packet between any two vertices p and q of P , where each step must use only the label of the target node q and the routing table of the current node. For any fixed eps > 0, we pre ent a routing scheme that always achieves a routing path that exceeds the shortest path by a factor of at most 1 + eps. The labels have O(log n) bits, and the routing tables are of size O((eps^{-1} + h) log n). The preprocessing time is O(n^2 log n + hn^2 + eps^{-1}hn). It can be improved to O(n 2 + eps^{-1}n) for simple polygons.

We describe a new data structure for dynamic nearest neighbor queries in the plane with respect to a general family of distance functions that includes Lp-norms and additively weighted Euclidean distances, and for general (convex, pair- wise disjoint) sites that have constant description complexity (line segments, disks, etc.). Our data structure has a polylogarithmic update and query time, improving an earlier data structure of Agarwal, Efrat and Sharir that required O(n∊) time for an update and O(log n) time for a query [1]. Our data structure has numerous applications, and in all of them it gives faster algorithms, typically reducing an O(n∊) factor in the bounds to polylogarithmic. To further demonstrate its effectiveness, we give here two new applications: an efficient construction of a spanner in a disk intersection graph, and a data structure for efficient connectivity queries in a dynamic disk graph. To obtain this data structure, we combine and extend various techniques and obtain several side results that are of independent interest. Our data structure depends on the existence and an efficient construction of “vertical” shallow cuttings in arrangements of bivariate algebraic functions. We prove that an appropriate level in an arrangement of a random sample of a suitable size provides such a cutting. To compute it efficiently, we develop a randomized incremental construction algorithm for finding the lowest k levels in an arrangement of bivariate algebraic functions (we mostly consider here collections of functions whose lower envelope has linear complexity, as is the case in the dynamic nearest- neighbor context). To analyze this algorithm, we improve a longstanding bound on the combinatorial complexity of the vertical decomposition of these levels. Finally, to obtain our structure, we plug our vertical shallow cutting construction into Chan's algorithm for efficiently maintaining the lower envelope of a dynamic set of planes in ℝ3. While doing this, we also revisit Chan's technique and present a variant that uses a single binary counter, with a simpler analysis and an improved amortized deletion time.

Let C1,…, Cd+i be d + 1 point sets in ℝd, each containing the origin in its convex hull. A subset C of is called a colorful choice (or rainbow) for C1,…, Cd+1, if it contains exactly one point from each set Ci. The colorful Carathéodory theorem states that there always exists a colorful choice for C1,…, Cd+1 that has the origin in its convex hull. This theorem is very general and can be used to prove several other existence theorems in high-dimensional discrete geometry, such as the centerpoint theorem or Tverberg's theorem. The colorful Carathéodory problem (ColorfulCarathéodory) is the computational problem of finding such a colorful choice. Despite several efforts in the past, the computational complexity of ColorfulCarathéodory in arbitrary dimension is still open. We show that ColorfulCarathéodory lies in the intersection of the complexity classes PPAD and PLS. This makes it one of the few geometric problems in PPAD and PLS that are not known to be solvable in polynomial time. Moreover, it implies that the problem of computing centerpoints, computing Tverberg partitions, and computing points with large simplicial depth is contained in PPAD Π PLS. This is the first nontrivial upper bound on the complexity of these problems. Finally, we show that our PPAD formulation leads to a polynomial-time algorithm for a special case of ColorfulCarathéodory in which we have only two color classes C1 and C2 in d dimensions, each with the origin in its convex hull, and we would like to find a set with half the points from each color class that contains the origin in its convex hull.

Given two polygonal curves in the plane, there are many ways to define a notion of similarity between them. One popular measure is the Fréchet distance. Since it was proposed by Alt and Godau in 1992, many variants and extensions have been studied. Nonetheless, even more than 20 years later, the original $$O(n^2 \log n)$$ algorithm by Alt and Godau for computing the Fréchet distance remains the state of the art (here, n denotes the number of edges on each curve). This has led Helmut Alt to conjecture that the associated decision problem is 3SUM-hard. In recent work, Agarwal et al. show how to break the quadratic barrier for the discrete version of the Fréchet distance, where one considers sequences of points instead of polygonal curves. Building on their work, we give a randomized algorithm to compute the Fréchet distance between two polygonal curves in time $$O(n^2 \sqrt{\log n}(\log \log n)^{3/2})$$ on a pointer machine and in time $$O(n^2(\log \log n)^2)$$ on a word RAM. Furthermore, we show that there exists an algebraic decision tree for the decision problem of depth $$O(n^{2-\varepsilon })$$ , for some $$\varepsilon > 0$$ . We believe that this reveals an intriguing new aspect of this well-studied problem. Finally, we show how to obtain the first subquadratic algorithm for computing the weak Fréchet distance on a word RAM.

All known algorithms for the Fréchet distance between curves proceed in two steps: first, they construct an efficient oracle for the decision version; second, they use this oracle to find the optimum from a finite set of critical values. We present a novel approach that avoids the detour through the decision version. This gives the first quadratic time algorithm for the Fréchet distance between polygonal curves in $$\mathbb {R}^d$$ under polyhedral distance functions (e.g., $$L_1$$ and $$L_\infty $$ ). We also get a $$(1+\varepsilon )$$ -approximation of the Fréchet distance under the Euclidean metric, in quadratic time for any fixed $$\varepsilon > 0$$ . For the exact Euclidean case, our framework currently yields an algorithm with running time $$O(n^2 \log ^2 n)$$ . However, we conjecture that it may eventually lead to a faster exact algorithm.

The Fréchet distance is a popular and widespread distance measure for point sequences and for curves. About two years ago, Agarwal et al [SIAM J. Comput. 2014] presented a new (mildly) subquadratic algorithm for the discrete version of the problem. This spawned a flurry of activity that has led to several new algorithms and lower bounds. In this paper, we study the approximability of the discrete Fréchet distance. Building on a recent result by Bringmann [FOCS 2014], we present a new conditional lower bound that strongly subquadratic algorithms for the discrete Fréchet distance are unlikely to exist, even in the one-dimensional case and even if the solution may be approximated up to a factor of 1.399. This raises the question of how well we can approximate the Fréchet distance (of two given d-dimensional point sequences of length n) in strongly subquadratic time. Previously, no general results were known. We present the first such algorithm by analysing the approximation ratio of a simple, linear-time greedy algorithm to be 2^Theta(n). Moreover, we design an alpha-approximation algorithm that runs in time O(n log n + n^2 / alpha), for any alpha in [1, n]. Hence, an n^epsilon-approximation of the Fréchet distance can be computed in strongly subquadratic time, for any epsilon > 0.

Let P be a set of n points in d dimensions, each with an associated radius r_p > 0. The transmission graph G for P has vertex set P and an edge from p to q if and only if q lies in the ball with radius r_p around p. Let t > 1. A t-spanner H for G is a sparse subgraph of G such that for any two vertices p, q connected by a path of length l in G, there is a p-q-path of length at most tl in H. We show how to compute a t-spanner for G if d=2. The running time is O(n (log n + log Psi)), where Psi is the ratio of the largest and smallest radius of two points in P. We extend this construction to be independent of Psi at the expense of a polylogarithmic overhead in the running time. As a first application, we prove a property of the t-spanner that allows us to find a BFS tree in G for any given start vertex s of P in the same time. After that, we deal with reachability oracles for G. These are data structures that answer reachability queries: given two vertices, is there a directed path between them? The quality of a reachability oracle is measured by the space S(n), the query time Q(n), and the preproccesing time. For d=1, we show how to compute an oracle with Q(n) = O(1) and S(n) = O(n) in time O(n log n). For d=2, the radius ratio Psi again turns out to be an important measure for the complexity of the problem. We present three different data structures whose quality depends on Psi: (i) if Psi < sqrt(3), we achieve Q(n) = O(1) with S(n) = O(n) and preproccesing time O(n log n); (ii) if Psi >= sqrt(3), we get Q(n) = O(Psi^3 sqrt(n)) and S(n) = O(Psi^5 n^(3/2)); and (iii) if Psi is polynomially bounded in n, we use probabilistic methods to obtain an oracle with Q(n) = O(n^(2/3)log n) and S(n) = O(n^(5/3) log n) that answers queries correctly with high probability. We employ our t-spanner to achieve a fast preproccesing time of O(Psi^5 n^(3/2)) and O(n^(5/3) log^2 n) in case (ii) and (iii), respectively.

Let P_1,...,P_{d+1} be d-dimensional point sets such that the convex hull of each P_i contains the origin. We call the sets P_i color classes, and we think of the points in P_i as having color i. A colorful choice is a set with at most one point of each color. The colorful Caratheodory theorem guarantees the existence of a colorful choice whose convex hull contains the origin. So far, the computational complexity of finding such a colorful choice is unknown. We approach this problem from two directions. First, we consider approximation algorithms: an m-colorful choice is a set that contains at most m points from each color class. We show that for any fixed epsilon > 0, an (epsilon d)-colorful choice containing the origin in its convex hull can be found in polynomial time. This notion of approximation has not been studied before, and it is motivated through the applications of the colorful Caratheodory theorem in the literature. In the second part, we present a natural generalization of the colorful Caratheodory problem: in the Nearest Colorful Polytope problem (NCP), we are given d-dimensional point sets P_1,...,P_n that do not necessarily contain the origin in their convex hulls. The goal is to find a colorful choice whose convex hull minimizes the distance to the origin. We show that computing local optima for the NCP problem is PLS-complete, while computing a global optimum is NP-hard.

Let k ≥ 0 be an integer. In the approximate k-flat nearest neighbor (k-ANN) problem, we are given a set P ⊂ Rd of n points in d-dimensional space and a fixed approximation factor c > 1. Our goal is to preprocess P so that we can efficiently answer approximate k-flat nearest neighbor queries: given a k-flat F, find a point in P whose distance to F is within a factor c of the distance between F and the closest point in P. The case k = 0 corresponds to the well-studied approximate nearest neighbor problem, for which a plethora of results are known, both in low and high dimensions. The case k = 1 is called approximate line nearest neighbor. In this case, we are aware of only one provably efficient data structure, due to Andoni, Indyk, Krauthgamer, and Nguyen (AIKN) [2]. For k ≥ 2, we know of no previous results.

We describe LiveCG, an interactive visualization environment for algorithms and data structures from Computational Geometry. LiveCG offers many primitives that make it easy to create interactive algorithm animations and illustrations for education and research. It can be seen as an attempt to develop a modern version of technologically obsolete systems such as XYZ Geobench or the Workbench for Computational Geometry.

Given two polygonal curves in the plane, there are many ways to define a notion of similarity between them. One measure that is extremely popular is the Fréchet distance. Since it has been proposed by Alt and Godau in 1992, many variants and extensions have been studied. Nonetheless, even more than 20 years later, the original O(n2 log n) algorithm by Alt and Godau for computing the Fréchet distance remains the state of the art (here n denotes the number of vertices on each curve). This has led Helmut Alt to conjecture that the associated decision problem is 3SUM-hard. In recent work, Agarwal et al. show how to break the quadratic barrier for the discrete version of the Fréchet distance, where one considers sequences of points instead of polygonal curves. Building on their work, we give a randomized algorithm to compute the Fréchet distance between two polygonal curves in time on a pointer machine and in time O(n2 (log log n)2) on a word RAM. Furthermore, we show that there exists an algebraic decision tree for the decision problem of depth O(n2∊), for some ∊ > 0. This provides evidence that the decision problem may not be 3SUM-hard after all and reveals an intriguing new aspect of this well-studied problem.

Finding the coordinatewise maxima and the convex hull of a planar point set are probably the most classic problems in computational geometry. We consider these problems in the self-improving setting. Here, we have $n$ distributions $\mathcal{D}_1, \ldots, \mathcal{D}_n$ of planar points. An input point set $(p_1, \ldots, p_n)$ is generated by taking an independent sample $p_i$ from each $\mathcal{D}_i$, so the input is distributed according to the product $\mathcal{D} = \prod_i \mathcal{D}_i$. A self-improving algorithm repeatedly gets inputs from the distribution $\mathcal{D}$ (which is a priori unknown), and it tries to optimize its running time for $\mathcal{D}$. The algorithm uses the first few inputs to learn salient features of the distribution $\mathcal{D}$ before it becomes fine-tuned to $\mathcal{D}$. Let $\text{OPT-MAX}_\mathcal{D}$ (resp., $\text{OPT-CH}_\mathcal{D}$) be the expected depth of an optimal linear comparison tree computing the maxima (resp., convex hull) for $\mathcal{D}$. Our maxima algorithm eventually achieves expected running time $O(\text{OPT-MAX}_\mathcal{D} + n)$. Furthermore, we give a self-improving algorithm for convex hulls with expected running time $O(\text{OPT-CH}_\mathcal{D} + n\log\log n)$. Our results require new tools for understanding linear comparison trees. In particular, we convert a general linear comparison tree to a restricted version that can then be related to the running time of our algorithms. Another interesting feature is an interleaved search procedure to determine the likeliest point to be extremal with minimal computation. This allows our algorithms to be competitive with the optimal algorithm for $\mathcal{D}$.

Computing the coordinate-wise maxima of a planar point set is a classic and well-studied problem in computational geometry. We give an algorithm for this problem in the self-improving setting. We have n (unknown) independent distributions cD1, cD2, ..., cDn of planar points. An input pointset (p1, p2, ..., pn) is generated by taking an independent sample pi from each cDi, so the input distribution cD is the product prodi cDi. A self-improving algorithm repeatedly gets input sets from the distribution cD (which is a priori unknown) and tries to optimize its running time for cD. Our algorithm uses the first few inputs to learn salient features of the distribution, and then becomes an optimal algorithm for distribution cD. Let OPTcD denote the expected depth of an optimal linear comparison tree computing the maxima for distribution cD. Our algorithm eventually has an expected running time of O(OPTcD + n), even though it did not know cD to begin with.

Let P be a d-dimensional n-point set. A Tverberg partition of P is a partition of P into r sets P1, ..., Pr such that the convex hulls ch(P1), ..., ch(Pr) have non-empty intersection. A point in the intersection of the convex hulls is called a Tverberg point of depth r for P. A classic result by Tverberg implies that there always exists a Tverberg partition of size n/(d+1), but it is not known how to find such a partition in polynomial time. Therefore, approximate solutions are of interest.

We show that Delaunay triangulations and compressed quadtrees are equivalent structures. More precisely, we give two algorithms: the first computes a compressed quadtree for a planar point set, given the Delaunay triangulation; the second finds the Delaunay triangulation, given a compressed quadtree. Both algorithms run in deterministic linear time on a pointer machine. Our work builds on and extends previous results by Krznaric and Levcopolous and Buchin and Mulzer. Our main tool for the second algorithm is the well-separated pair decomposition (WSPD), a structure that has been used previously to find Euclidean minimum spanning trees in higher dimensions. We show that knowing the WSPD (and a quadtree) suffices to compute a planar Euclidean minimum spanning tree (EMST) in linear time. With the EMST at hand, we can find the Delaunay triangulation in linear time. As a corollary, we obtain deterministic versions of many previous algorithms related to Delaunay triangulations, such as splitting planar Delaunay triangulations, preprocessing imprecise points for faster Delaunay computation, and transdichotomous Delaunay triangulations.

Motivated by the desire to cope with data imprecision, we study methods for preprocessing a set of line-segments (or just lines) in the plane such that whenever we are given a set of points, each of which lies on a distinct object, we can compute their convex hull more efficiently than in "standard settings" (that is, without preprocessing).

We show that Delaunay triangulations and compressed quadtrees are equivalent structures. More precisely, we give two algorithms: the first computes a compressed quadtree for a planar point set, given the Delaunay triangulation; the second finds the Delaunay triangulation, given a compressed quadtree. Both algorithms run in deterministic linear time on a pointer machine. Our work builds on and extends previous results by Krznaric and Levcopolous [40] and Buchin and Mulzer [10]. Our main tool for the second algorithm is the well-separated pair decomposition (WSPD) [13], a structure that has been used previously to find Euclidean minimum spanning trees in higher dimensions [27]. We show that knowing the WSPD (and a quadtree) suffices to compute a planar EMST in linear time. With the EMST at hand, we can find the Delaunay triangulation in linear time [21]. As a corollary, we obtain deterministic versions of many previous algorithms related to Delaunay triangulations, such as splitting planar Delaunay triangulations [19, 20], preprocessing imprecise points for faster Delaunay computation [9, 42], and transdichotomous Delaunay triangulations [10, 15, 16].

Suppose we want to compute the Delaunay triangulation of a set P whose points are restricted to a collection ℛ of input regions known in advance. Building on recent work by Löffler and Snoeyink, we show how to leverage our knowledge of ℛ for faster Delaunay computation. Our approach needs no fancy machinery and optimally handles a wide variety of inputs, e.g., overlapping disks of different sizes and fat regions.

We present several results about Delaunay triangulations (DTs) and convex hulls in transdichotomous and hereditary settings: (i) the DT of a planar point set can be computed in expected time O (sort( n )) on a word RAM, where sort( n ) is the time to sort n numbers. We assume that the word RAM supports the shuffle operation in constant time; (ii) if we know the ordering of a planar point set in x - and in y -direction, its DT can be found by a randomized algebraic computation tree of expected linear depth; (iii) given a universe U of points in the plane, we construct a data structure D for Delaunay queries : for any P ⊆ U , D can find the DT of P in expected time O (| P | log log | U |); (iv) given a universe U of points in 3-space in general convex position, there is a data structure D for convex hull queries : for any P ⊆ U , D can find the convex hull of P in expected time O (| P | (log log | U |) 2 ); (v) given a convex polytope in 3-space with n vertices which are colored with χ ≥ 2 colors, we can split it into the convex hulls of the individual color classes in expected time O ( n (log log n ) 2 ). The results (i)--(iii) generalize to higher dimensions, where the expected running time now also depends on the complexity of the resulting DT. We need a wide range of techniques. Most prominently, we describe a reduction from DTs to nearest-neighbor graphs that relies on a new variant of randomized incremental constructions using dependent sampling.

We investigate ways in which an algorithm can improve its expected performance by fine-tuning itself automatically with respect to an unknown input distribution $\mathcal{D}$. We assume here that $\mathcal{D}$ is of product type. More precisely, suppose that we need to process a sequence $I_1,I_2,\ldots$ of inputs $I=(x_1,x_2,\ldots,x_n)$ of some fixed length n, where each $x_i$ is drawn independently from some arbitrary, unknown distribution $\mathcal{D}_i$. The goal is to design an algorithm for these inputs so that eventually the expected running time will be optimal for the input distribution $\mathcal{D}=\prod_i\mathcal{D}_i$. We give such self-improving algorithms for two problems: (i) sorting a sequence of numbers and (ii) computing the Delaunay triangulation of a planar point set. Both algorithms achieve optimal expected limiting complexity. The algorithms begin with a training phase during which they collect information about the input distribution, followed by a stationary regime in which the algorithms settle to their optimized incarnations.

We describe an algorithm for computing planar convex hulls in the self-improving model: given a sequence I1, I2, … of planar n-point sets, the upper convex hull conv(I) of each set I is desired. We assume that there exists a probability distribution D on n-point sets, such that the inputs Ij are drawn independently according to D. Furthermore, D is such that the individual points are distributed independently of each other. In other words, the i'th point is distributed according to Di. The Di's can be arbitrary but are independent of each other. The distribution D is not known to the algorithm in advance. After a learning phase of nε rounds, the expected time to compute conv(I) is O(n + H(conv(I))). Here, H(conv(I)) is the entropy of the output, which is a lower bound for the expected running time of any algebraic computation tree that computes the convex hull. (More precisely, H(conv(I)) is the minimum entropy of any random variable that maps I to a description of conv(I) and to a labeling scheme that proves nonextremality for every point in I not on the hull.) Our algorithm is thus asymptotically optimal for D. (An erratum has been attached to the previously published proceedings.)

Color red and blue the n vertices of a convex polytope P in R3. Can we compute the convex hull of each color class in o(n log n)? What if we have k > 2 colors? What if the colors are random? Consider an arbitrary query halfspace and call the vertices of P inside it blue: can the convex hull of the blue points be computed in time linear in their number? More generally, can we quickly compute the blue hull without looking at the whole polytope? This paper considers several instances of hereditary computation and provides new results for them. In particular, we resolve an eight-year old open problem by showing how to split a convex polytope in linear expected time.

We present several results about Delaunay triangulations (DTs) and convex hulls in transdichotomous and hereditary settings: (i) the DT of a planar point set can be computed in expected time O(sort(n)) on a word RAM, where sort(n) is the time to sort n numbers. We assume that the word RAM supports the shuffle-operation in constant time; (ii) if we know the ordering of a planar point set in x- and in y-direction, its DT can be found by a randomized algebraic computation tree of expected linear depth; (iii) given a universe U of points in the plane, we construct a data structure D for Delaunay queries: for any P ¿ U, D can find the DT of P in time O(|P|log log|U|); (iv) given a universe U of points in 3-space in general convex position, there is a data structure D for convex hull queries: for any P ¿ U, D can find the convex hull of P in time O(|P|(log log|U|)2); (v) given a convex polytope in 3-space with n vertices which are colored with ¿ > 2 colors, we can split it into the convex hulls of the individual color classes in time O(n(log log n)2). The results (i)-(iii) generalize to higher dimensions. We need a wide range of techniques. Most prominently, we describe a reduction from DTs to nearest-neighbor graphs that relies on a new variant of randomized incremental constructions using dependent sampling.

A classic result asserts that many geometric structures can be constructed optimally by successively inserting their constituent parts in random order. These randomized incremental constructions (RICs) still work with imperfect randomness: the dynamic operations need only be "locally" random. Much attention has been given recently to inputs generated by Markov sources. These are particularly interesting to study in the framework of RICs, because Markov chains provide highly nonlocal randomness, which incapacitates virtually all known RIC technology.

A triangulation of a planar point set S is a maximal plane straight-line graph with vertex set S . In the minimum-weight triangulation (MWT) problem, we are looking for a triangulation of a given point set that minimizes the sum of the edge lengths. We prove that the decision version of this problem is NP-hard, using a reduction from PLANAR 1-IN-3-SAT. The correct working of the gadgets is established with computer assistance, using dynamic programming on polygonal faces, as well as the β-skeleton heuristic to certify that certain edges belong to the minimum-weight triangulation.

Article Share on Minimum weight triangulation is NP-hardSCG '06: Proceedings of the twenty-second annual symposium on Computational geometryJune 2006 Pages 1–10https://doi.org/10.1145/1137856.1137859Online:05 June 2006Publication History 11citation530DownloadsMetricsTotal Citations11Total Downloads530Last 12 Months4Last 6 weeks1 Get Citation AlertsNew Citation Alert added!This alert has been successfully added and will be sent to:You will be notified whenever a record that you have chosen has been cited.To manage your alert preferences, click on the button below.Manage my AlertsNew Citation Alert!Please log in to your account Save to BinderSave to BinderCreate a New BinderNameCancelCreateExport CitationPublisher SiteGet Access