arXiv subjects

I. Ventura

Publications and source records attributed to I. Ventura.

4 recordsLinked to original sources

arXiv2025

Efficient variable-length hanging tether parameterization for marsupial robot planning in 3D environments

This paper presents a novel approach to efficiently parameterize and estimate the state of a hanging tether for path and trajectory planning of a UGV tied to a UAV in a marsupial configuration. Most implementations in the state of the art assume a taut tether or make use of the catenary curve to model the shape of the hanging tether. The catenary model is complex to compute and must be instantiated thousands of times during the planning process, becoming a time-consuming task, while the taut tether assumption simplifies the problem, but might overly restrict the movement of the platforms. In order to accelerate the planning process, this paper proposes defining an analytical model to efficiently compute the hanging tether state, and a method to get a tether state parameterization free of collisions. We exploit the existing similarity between the catenary and parabola curves to derive analytical expressions of the tether state.

cs.RO↗

arXiv2017

On balanced 4-holes in bichromatic point sets

Let $S=R\cup B$ be a point set in the plane in general position such that each of its elements is colored either red or blue, where $R$ and $B$ denote the points colored red and the points colored blue, respectively. A quadrilateral with vertices in $S$ is called a $4$-hole if its interior is empty of elements of $S$. We say that a $4$-hole of $S$ is balanced if it has $2$ red and $2$ blue points of $S$ as vertices. In this paper, we prove that if $R$ and $B$ contain $n$ points each then $S$ has at least $\frac{n^2-4n}{12}$ balanced $4$-holes, and this bound is tight up to a constant factor. Since there are two-colored point sets with no balanced {\em convex} $4$-holes, we further provide a characterization of the two-colored point sets having this type of $4$-holes.

cs.CG↗

arXiv2013

New results on the coarseness of bicolored point sets

Let $S$ be a 2-colored (red and blue) set of $n$ points in the plane. A subset $I$ of $S$ is an island if there exits a convex set $C$ such that $I=C\cap S$. The discrepancy of an island is the absolute value of the number of red minus the number of blue points it contains. A convex partition of $S$ is a partition of $S$ into islands with pairwise disjoint convex hulls. The discrepancy of a convex partition is the discrepancy of its island of minimum discrepancy. The coarseness of $S$ is the discrepancy of the convex partition of $S$ with maximum discrepancy. This concept was recently defined by Bereg et al. [CGTA 2013]. In this paper we study the following problem: Given a set $S$ of $n$ points in general position in the plane, how to color each of them (red or blue) such that the resulting 2-colored point set has small coarseness? We prove that every $n$-point set $S$ can be colored such that its coarseness is $O(n^{1/4}\sqrt{\log n})$. This bound is almost tight since there exist $n$-point sets such that every 2-coloring gives coarseness at least $Ω(n^{1/4})$. Additionally, we show that there exists an approximation algorithm for computing the coarseness of a 2-colored point set, whose ratio is between $1/128$ and $1/64$, solving an open problem posted by Bereg et al. [CGTA 2013]. All our results consider $k$-separable islands of $S$, for some $k$, which are those resulting from intersecting $S$ with at most $k$ halfplanes.

math.CO↗

arXiv2012

Locating a service facility and a rapid transit line

In this paper we study a facility location problem in the plane in which a single point (facility) and a rapid transit line (highway) are simultaneously located in order to minimize the total travel time of the clients to the facility, using the $L_1$ or Manhattan metric. The rapid transit line is represented by a line segment with fixed length and arbitrary orientation. The highway is an alternative transportation system that can be used by the clients to reduce their travel time to the facility. This problem was introduced by Espejo and Chía in [7]. They gave both a characterization of the optimal solutions and an algorithm running in $O(n^3\log n)$ time, where $n$ represents the number of clients. In this paper we show that the Espejo and Chía's algorithm does not always work correctly. At the same time, we provide a proper characterization of the solutions with a simpler proof and give an algorithm solving the problem in $O(n^3)$ time.

cs.CG↗