arXiv subjects

Matias Korman

Publications and source records attributed to Matias Korman.

At least 19 recordsLinked to original sources

arXiv2025

Input-Sensitive Reconfiguration of Sliding Cubes

A configuration of $n$ unit-cube-shaped \textit{modules} (or \textit{robots}) is a lattice-aligned placement of the $n$ modules so that their union is face-connected. The reconfiguration problem aims at finding a sequence of moves that reconfigures the modules from one given configuration to another. The sliding cube model (in which modules are allowed to slide over the face or edge of neighboring modules) is one of the most studied theoretical models for modular robots. In the sliding cubes model we can reconfigure between any two shapes in $O(n^2)$ moves ([Abel \textit{et al.} SoCG 2024]). If we are interested in a reconfiguration algorithm into a \textit{compact configuration}, the number of moves can be reduced to the sum of coordinates of the input configuration (a number that ranges from $\Omega(n^{4/3})$ to $O(n^2)$, [Kostitsyna \textit{et al.} SWAT 2024]). We introduce a new algorithm that combines both universal reconfiguration and an input-sensitive bound on the sum of coordinates of both configurations, with additional advantages, such as $O(1)$ amortized computation per move.

cs.CG↗

arXiv2024

PSPACE-Hard 2D Super Mario Games: Thirteen Doors

We prove PSPACE-hardness for fifteen games in the Super Mario Bros. 2D platforming video game series. Previously, only the original Super Mario Bros. was known to be PSPACE-hard (FUN 2016), though several of the games we study were known to be NP-hard (FUN 2014). Our reductions build door gadgets with open, close, and traverse traversals, in each case using mechanics unique to the game. While some of our door constructions are similar to those from FUN 2016, those for Super Mario Bros. 2, Super Mario Land 2, Super Mario World 2, and the New Super Mario Bros. series are quite different; notably, the Super Mario Bros. 2 door is extremely difficult. Doors remain elusive for just two 2D Mario games (Super Mario Land and Super Mario Run); we prove that these games are at least NP-hard.

cs.CC↗

arXiv2022

Reconfiguration of Non-crossing Spanning Trees

For a set $P$ of $n$ points in the plane in general position, a non-crossing spanning tree is a spanning tree of the points where every edge is a straight-line segment between a pair of points and no two edges intersect except at a common endpoint. We study the problem of reconfiguring one non-crossing spanning tree of $P$ to another using a sequence of flips where each flip removes one edge and adds one new edge so that the result is again a non-crossing spanning tree of $P$. There is a known upper bound of $2n-4$ flips [Avis and Fukuda, 1996] and a lower bound of $1.5n - 5$ flips. We give a reconfiguration algorithm that uses at most $2n-3$ flips but reduces that to $1.5n-2$ flips when one tree is a path and either: the points are in convex position; or the path is monotone in some direction. For points in convex position, we prove an upper bound of $2d - \Omega(\log d)$ where $d$ is half the size of the symmetric difference between the trees. We also examine whether the happy edges (those common to the initial and final trees) need to flip, and we find exact minimum flip distances for small point sets using exhaustive search.

cs.CG↗

arXiv2021

Snipperclips: Cutting Tools into Desired Polygons using Themselves

We study Snipperclips, a computer puzzle game whose objective is to create a target shape with two tools. The tools start as constant-complexity shapes, and each tool can snip (i.e., subtract its current shape from) the other tool. We study the computational problem of, given a target shape represented by a polygonal domain of $n$ vertices, is it possible to create it as one of the tools' shape via a sequence of snip operations? If so, how many snip operations are required? We consider several variants of the problem (such as allowing the tools to be disconnected and/or using an undo operation) and bound the number of operations needed for each of the variants.

cs.CG↗

arXiv2021

Compacting Squares: Input-Sensitive In-Place Reconfiguration of Sliding Squares

A well-established theoretical model for modular robots in two dimensions are edge-connected configurations of square modules, which can reconfigure through so-called sliding moves. Dumitrescu and Pach [Graphs and Combinatorics, 2006] proved that it is always possible to reconfigure one edge-connected configuration of $n$ squares into any other using at most $O(n^2)$ sliding moves, while keeping the configuration connected at all times. For certain pairs of configurations, reconfiguration may require $\Omega(n^2)$ sliding moves. However, significantly fewer moves may be sufficient. We prove that it is NP-hard to minimize the number of sliding moves for a given pair of edge-connected configurations. On the positive side we present Gather&Compact, an input-sensitive in-place algorithm that requires only $O(\bar{P} n)$ sliding moves to transform one configuration into the other, where $\bar{P}$ is the maximum perimeter of the two bounding boxes. The squares move within the bounding boxes only, with the exception of at most one square at a time which may move through the positions adjacent to the bounding boxes. The $O(\bar{P} n)$ bound never exceeds $O(n^2)$, and is optimal (up to constant factors) among all bounds parameterized by just $n$ and $\bar{P}$. Our algorithm is built on the basic principle that well-connected components of modular robots can be transformed efficiently. Hence we iteratively increase the connectivity within a configuration, to finally arrive at a single solid $xy$-monotone component. We implemented Gather&Compact and compared it experimentally to the in-place modification by Moreno and Sacrist\'an [EuroCG 2020] of the Dumitrescu and Pach algorithm (MSDP). Our experiments show that Gather&Compact consistently outperforms MSDP by a significant margin, on all types of square configurations.

cs.CG↗

arXiv2021

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↗

arXiv2021

Hardness of Token Swapping on Trees

Given a graph where every vertex has exactly one labeled token, how can we most quickly execute a given permutation on the tokens? In (sequential) token swapping, the goal is to use the shortest possible sequence of swaps, each of which exchanges the tokens at the two endpoints of an edge of the graph. In parallel token swapping, the goal is to use the fewest rounds, each of which consists of one or more swaps on the edges of a matching. We prove that both of these problems remain NP-hard when the graph is restricted to be a tree. These token swapping problems have been studied by disparate groups of researchers in discrete mathematics, theoretical computer science, robot motion planning, game theory, and engineering. Previous work establishes NP-completeness on general graphs (for both problems); polynomial-time algorithms for simple graph classes such as cliques, stars, paths, and cycles; and constant-factor approximation algorithms in some cases. The two natural cases of sequential and parallel token swapping in trees were first studied over thirty years ago (as "sorting with a transposition tree") and over twenty-five years ago (as "routing permutations via matchings"), yet their complexities were previously unknown. We also show limitations on approximation of sequential token swapping on trees: we identify a broad class of algorithms that encompass all three known polynomial-time algorithms that achieve the best known approximation factor (which is $2$) and show that no such algorithm can achieve an approximation factor less than $2$.

cs.DS↗

arXiv2020

Efficient Segment Folding is Hard

We introduce a computational origami problem which we call the segment folding problem: given a set of $n$ line-segments in the plane the aim is to make creases along all segments in the minimum number of folding steps. Note that a folding might alter the relative position between the segments, and a segment could split into two. We show that it is NP-hard to determine whether $n$ line segments can be folded in $n$ simple folding operations.

cs.CG↗

arXiv2020

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↗

arXiv2020

Reconfiguration of Connected Graph Partitions via Recombination

Motivated by applications in gerrymandering detection, we study a reconfiguration problem on connected partitions of a connected graph $G$. A partition of $V(G)$ is \emph{connected} if every part induces a connected subgraph. In many applications, it is desirable to obtain parts of roughly the same size, possibly with some slack $s$. A \emph{Balanced Connected $k$-Partition with slack $s$}, denoted \emph{$(k,s)$-BCP}, is a partition of $V(G)$ into $k$ nonempty subsets, of sizes $n_1,\ldots , n_k$ with $|n_i-n/k|\leq s$, each of which induces a connected subgraph (when $s=0$, the $k$ parts are perfectly balanced, and we call it \emph{$k$-BCP} for short). A \emph{recombination} is an operation that takes a $(k,s)$-BCP of a graph $G$ and produces another by merging two adjacent subgraphs and repartitioning them. Given two $k$-BCPs, $A$ and $B$, of $G$ and a slack $s\geq 0$, we wish to determine whether there exists a sequence of recombinations that transform $A$ into $B$ via $(k,s)$-BCPs. We obtain four results related to this problem: (1) When $s$ is unbounded, the transformation is always possible using at most $6(k-1)$ recombinations. (2) If $G$ is Hamiltonian, the transformation is possible using $O(kn)$ recombinations for any $s \ge n/k$, and (3) we provide negative instances for $s \leq n/(3k)$. (4) We show that the problem is PSPACE-complete when $k \in O(n^{\varepsilon})$ and $s \in O(n^{1-\varepsilon})$, for any constant $0 < \varepsilon \le 1$, even for restricted settings such as when $G$ is an edge-maximal planar graph or when $k=3$ and $G$ is planar.

cs.DM↗

arXiv2020

New Results in Sona Drawing: Hardness and TSP Separation

Given a set of point sites, a sona drawing is a single closed curve, disjoint from the sites and intersecting itself only in simple crossings, so that each bounded region of its complement contains exactly one of the sites. We prove that it is NP-hard to find a minimum-length sona drawing for $n$ given points, and that such a curve can be longer than the TSP tour of the same points by a factor $> 1.5487875$. When restricted to tours that lie on the edges of a square grid, with points in the grid cells, we prove that it is NP-hard even to decide whether such a tour exists. These results answer questions posed at CCCG 2006.

cs.CG↗

arXiv2020

Distance bounds for high dimensional consistent digital rays and 2-D partially-consistent digital rays

We consider the problem of digitalizing Euclidean segments. Specifically, we look for a constructive method to connect any two points in $\mathbb{Z}^d$. The construction must be {\em consistent} (that is, satisfy the natural extension of the Euclidean axioms) while resembling them as much as possible. Previous work has shown asymptotically tight results in two dimensions with $\Theta(\log N)$ error, where resemblance between segments is measured with the Hausdorff distance, and $N$ is the $L_1$ distance between the two points. This construction was considered tight because of a $\Omega(\log N)$ lower bound that applies to any consistent construction in $\mathbb{Z}^2$. In this paper we observe that the lower bound does not directly extend to higher dimensions. We give an alternative argument showing that any consistent construction in $d$ dimensions must have $\Omega(\log^{1/(d-1)} N)$ error. We tie the error of a consistent construction in high dimensions to the error of similar {\em weak} constructions in two dimensions (constructions for which some points need not satisfy all the axioms). This not only opens the possibility for having constructions with $o(\log N)$ error in high dimensions, but also opens up an interesting line of research in the tradeoff between the number of axiom violations and the error of the construction. In order to show our lower bound, we also consider a colored variation of the concept of discrepancy of a set of points that we find of independent interest.

cs.CG↗

arXiv2020

Negative Instance for the Edge Patrolling Beacon Problem

Can an infinite-strength magnetic beacon always ``catch'' an iron ball, when the beacon is a point required to be remain nonstrictly outside a polygon, and the ball is a point always moving instantaneously and maximally toward the beacon subject to staying nonstrictly within the same polygon? Kouhestani and Rappaport [JCDCG 2017] gave an algorithm for determining whether a ball-capturing beacon strategy exists, while conjecturing that such a strategy always exists. We disprove this conjecture by constructing orthogonal and general-position polygons in which the ball and the beacon can never be united.

cs.CG↗

arXiv2020

Kinetic Geodesic Voronoi Diagrams in a Simple Polygon

We study the geodesic Voronoi diagram of a set $S$ of $n$ linearly moving sites inside a static simple polygon $P$ with $m$ vertices. We identify all events where the structure of the Voronoi diagram changes, bound the number of such events, and then develop a kinetic data structure (KDS) that maintains the geodesic Voronoi diagram as the sites move. To this end, we first analyze how often a single bisector, defined by two sites, or a single Voronoi center, defined by three sites, can change. For both these structures we prove that the number of such changes is at most $O(m^3)$, and that this is tight in the worst case. Moreover, we develop compact, responsive, local, and efficient kinetic data structures for both structures. Our data structures use linear space and process a worst-case optimal number of events. Our bisector and Voronoi center kinetic data structures handle each event in $O(\log^2 m)$ time. Both structures can be extended to efficiently support updating the movement of the sites as well. Using these data structures as building blocks we obtain a compact KDS for maintaining the full geodesic Voronoi diagram.

cs.CG↗

arXiv2019

Universal Reconfiguration of Facet-Connected Modular Robots by Pivots: The $O(1)$ Musketeers

We present the first universal reconfiguration algorithm for transforming a modular robot between any two facet-connected square-grid configurations using pivot moves. More precisely, we show that five extra "helper" modules ("musketeers") suffice to reconfigure the remaining $n$ modules between any two given configurations. Our algorithm uses $O(n^2)$ pivot moves, which is worst-case optimal. Previous reconfiguration algorithms either require less restrictive "sliding" moves, do not preserve facet-connectivity, or for the setting we consider, could only handle a small subset of configurations defined by a local forbidden pattern. Configurations with the forbidden pattern do have disconnected reconfiguration graphs (discrete configuration spaces), and indeed we show that they can have an exponential number of connected components. But forbidding the local pattern throughout the configuration is far from necessary, as we show that just a constant number of added modules (placed to be freely reconfigurable) suffice for universal reconfigurability. We also classify three different models of natural pivot moves that preserve facet-connectivity, and show separations between these models.

cs.CG↗

arXiv2019

Graphs with large total angular resolution

The total angular resolution of a straight-line drawing is the minimum angle between two edges of the drawing. It combines two properties contributing to the readability of a drawing: the angular resolution, which is the minimum angle between incident edges, and the crossing resolution, which is the minimum angle between crossing edges. We consider the total angular resolution of a graph, which is the maximum total angular resolution of a straight-line drawing of this graph. We prove that, up to a finite number of well specified exceptions of constant size, the number of edges of a graph with $n$ vertices and a total angular resolution greater than $60^{\circ}$ is bounded by $2n-6$. This bound is tight. In addition, we show that deciding whether a graph has total angular resolution at least $60^{\circ}$ is NP-hard.

cs.CG↗

arXiv2019

Circumscribing Polygons and Polygonizations for Disjoint Line Segments

Given a planar straight-line graph $G=(V,E)$ in $\mathbb{R}^2$, a \emph{circumscribing polygon} of $G$ is a simple polygon $P$ whose vertex set is $V$, and every edge in $E$ is either an edge or an internal diagonal of $P$. A circumscribing polygon is a \emph{polygonization} for $G$ if every edge in $E$ is an edge of $P$. We prove that every arrangement of $n$ disjoint line segments in the plane has a subset of size $\Omega(\sqrt{n})$ that admits a circumscribing polygon, which is the first improvement on this bound in 20 years. We explore relations between circumscribing polygons and other problems in combinatorial geometry, and generalizations to $\mathbb{R}^3$. We show that it is NP-complete to decide whether a given graph $G$ admits a circumscribing polygon, even if $G$ is 2-regular. Settling a 30-year old conjecture by Rappaport, we also show that it is NP-complete to determine whether a geometric matching admits a polygonization.

cs.CG↗

arXiv2019

Reconfiguration of Connected Graph Partitions

Motivated by recent computational models for redistricting and detection of gerrymandering, we study the following problem on graph partitions. Given a graph $G$ and an integer $k\geq 1$, a $k$-district map of $G$ is a partition of $V(G)$ into $k$ nonempty subsets, called districts, each of which induces a connected subgraph of $G$. A switch is an operation that modifies a $k$-district map by reassigning a subset of vertices from one district to an adjacent district; a 1-switch is a switch that moves a single vertex. We study the connectivity of the configuration space of all $k$-district maps of a graph $G$ under 1-switch operations. We give a combinatorial characterization for the connectedness of this space that can be tested efficiently. We prove that it is NP-complete to decide whether there exists a sequence of 1-switches that takes a given $k$-district map into another; and NP-hard to find the shortest such sequence (even if a sequence of polynomial length is known to exist). We also present efficient algorithms for computing a sequence of 1-switches that takes a given $k$-district map into another when the space is connected, and show that these algorithms perform a worst-case optimal number of switches up to constant factors.

cs.DM↗