Hyo-Sil Kim | Searcharxiv

arXiv2013

On the Number of Edges of Fan-Crossing Free Graphs

A graph drawn in the plane with n vertices is k-fan-crossing free for k > 1 if there are no k+1 edges $g,e_1,...e_k$, such that $e_1,e_2,...e_k$ have a common endpoint and $g$ crosses all $e_i$. We prove a tight bound of 4n-8 on the maximum number of edges of a 2-fan-crossing free graph, and a tight 4n-9 bound for a straight-edge drawing. For k > 2, we prove an upper bound of 3(k-1)(n-2) edges. We also discuss generalizations to monotone graph properties.

cs.CG↗

arXiv2012

The Cost of Bounded Curvature

We study the motion-planning problem for a car-like robot whose turning radius is bounded from below by one and which is allowed to move in the forward direction only (Dubins car). For two robot configurations $σ, σ'$, let $\ell(σ, σ')$ be the shortest bounded-curvature path from $σ$ to $σ'$. For $d \geq 0$, let $\ell(d)$ be the supremum of $\ell(σ, σ')$, over all pairs $(σ, σ')$ that are at Euclidean distance $d$. We study the function $\dub(d) = \ell(d) - d$, which expresses the difference between the bounded-curvature path length and the Euclidean distance of its endpoints. We show that $\dub(d)$ decreases monotonically from $\dub(0) = 7π/3$ to $\dub(\ds) = 2π$, and is constant for $d \geq \ds$. Here $\ds \approx 1.5874$. We describe pairs of configurations that exhibit the worst-case of $\dub(d)$ for every distance $d$.

cs.CG↗