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Andrei Gonczi

Publications and source records attributed to Andrei Gonczi.

3 recordsLinked to original sources

Reconfiguration of Polygonal Subdivisions via Recombination

Motivated by the problem of redistricting, we study area-preserving reconfigurations of connected subdivisions of a simple polygon. A connected subdivision of a polygon $\mathcal{R}$, called a district map, is a set of interior disjoint connected polygons called districts whose union equals $\mathcal{R}$. We consider the recombination as the reconfiguration move which takes a subdivision and produces another by merging two adjacent districts, and by splitting them into two connected polygons of the same area as the original districts. The complexity of a map is the number of vertices in the boundaries of its districts. Given two maps with $k$ districts, with complexity $O(n)$, and a perfect matching between districts of the same area in the two maps, we show constructively that $(\log n)^{O(\log k)}$ recombination moves are sufficient to reconfigure one into the other. We also show that $Ω(\log n)$ recombination moves are sometimes necessary even when $k=3$, thus providing a tight bound when $k=O(1)$.

cs.CG

Robot Development and Path Planning for Indoor Ultraviolet Light Disinfection

Regular irradiation of indoor environments with ultraviolet C (UVC) light has become a regular task for many indoor settings as a result of COVID-19, but current robotic systems attempting to automate it suffer from high costs and inefficient irradiation. In this paper, we propose a purpose-made inexpensive robotic platform with off-the-shelf components and standard navigation software that, with a novel algorithm for finding optimal irradiation locations, addresses both shortcomings to offer affordable and efficient solutions for UVC irradiation. We demonstrate in simulations the efficacy of the algorithm and show a prototypical run of the autonomous integrated robotic system in an indoor environment. In our sample instances, our proposed algorithm reduces the time needed by roughly 30\% while it increases the coverage by a factor of 35\% (when compared to the best possible placement of a static light).

cs.RO

Characterizing Universal Reconfigurability of Modular Pivoting Robots

We give both efficient algorithms and hardness results for reconfiguring between two connected configurations of modules in the hexagonal grid. The reconfiguration moves that we consider are "pivots", where a hexagonal module rotates around a vertex shared with another module. Following prior work on modular robots, we define two natural sets of hexagon pivoting moves of increasing power: restricted and monkey moves. When we allow both moves, we present the first universal reconfiguration algorithm, which transforms between any two connected configurations using $O(n^3)$ monkey moves. This result strongly contrasts the analogous problem for squares, where there are rigid examples that do not have a single pivoting move preserving connectivity. On the other hand, if we only allow restricted moves, we prove that the reconfiguration problem becomes PSPACE-complete. Moreover, we show that, in contrast to hexagons, the reconfiguration problem for pivoting squares is PSPACE-complete regardless of the set of pivoting moves allowed. In the process, we strengthen the reduction framework of Demaine et al. [FUN'18] that we consider of independent interest.

cs.CG