arXiv subjects

Mikkel Abrahamsen

Publications and source records attributed to Mikkel Abrahamsen.

At least 37 records · Page 2Linked to original sources

arXiv2022

Degree of Convexity and Expected Distances in Polygons

We present an algorithm for computing the so-called Beer-index of a polygon $P$ in $O(n^2)$ time, where $n$ is the number of corners. The polygon $P$ may have holes. The Beer-index is the probability that two points chosen independently and uniformly at random in $P$ can see each other. Given a finite set $M$ of $m$ points in a simple polygon $P$, we also show how the number of pairs in $M$ that see each other can be computed in $O(n\log n+m^{4/3}\log^αm\log n)$ time, where $α<1.78$ is a constant. We likewise study the problem of computing the expected geodesic distance between two points chosen independently and uniformly at random in a simple polygon $P$. We show how the expected $L_1$-distance can be computed in optimal $O(n)$ time by a conceptually very simple algorithm. We then describe an algorithm that outputs a closed-form expression for the expected $L_2$-distance in $O(n^2)$ time.

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arXiv2022

How to Cut Corners and Get Bounded Convex Curvature

We describe an algorithm for solving an important geometric problem arising in computer-aided manufacturing. When cutting away a region from a solid piece of material -- such as steel, wood, ceramics, or plastic -- using a rough tool in a milling machine, sharp convex corners of the region cannot be done properly, but have to be left for finer tools that are more expensive to use. We want to determine a toolpath that maximizes the use of the rough tool. In order to formulate the problem in mathematical terms, we introduce the notion of bounded convex curvature. A region of points in the plane $Q$ has \emph{bounded convex curvature} if for any point $x\in\partial Q$, there is a unit disk $U$ and $\varepsilon>0$ such that $x\in \partial U$ and all points in $U$ within distance $\varepsilon$ from $x$ are in $Q$. This translates to saying that as we traverse the boundary $\partial Q$ with the interior of $Q$ on the left side, then $\partial Q$ turns to the left with curvature at most $1$. There is no bound on the curvature where $\partial Q$ turns to the right. Given a region of points $P$ in the plane, we are now interested in computing the maximum subset $Q\subseteq P$ of bounded convex curvature. The difference in the requirement to left- and right-curvature is a natural consequence of different conditions when machining convex and concave areas of $Q$. We devise an algorithm to compute the unique maximum such set $Q$, when the boundary of $P$ consists of $n$ line segments and circular arcs of arbitrary radii. In the general case where $P$ may have holes, the algorithm runs in time $O(n^2)$ and uses $O(n)$ space. If $P$ is simply-connected, we describe a faster $O(n\log n)$ time algorithm.

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arXiv2021

Training Neural Networks is $\exists\mathbb R$-complete

Given a neural network, training data, and a threshold, it was known that it is NP-hard to find weights for the neural network such that the total error is below the threshold. We determine the algorithmic complexity of this fundamental problem precisely, by showing that it is $\exists\mathbb R$-complete. This means that the problem is equivalent, up to polynomial-time reductions, to deciding whether a system of polynomial equations and inequalities with integer coefficients and real unknowns has a solution. If, as widely expected, $\exists\mathbb R$ is strictly larger than NP, our work implies that the problem of training neural networks is not even in NP. Neural networks are usually trained using some variation of backpropagation. The result of this paper offers an explanation why techniques commonly used to solve big instances of NP-complete problems seem not to be of use for this task. Examples of such techniques are SAT solvers, IP solvers, local search, dynamic programming, to name a few general ones.

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arXiv2021

Geometric Embeddability of Complexes is $\exists \mathbb R$-complete

We show that the decision problem of determining whether a given (abstract simplicial) $k$-complex has a geometric embedding in $\mathbb R^d$ is complete for the Existential Theory of the Reals for all $d\geq 3$ and $k\in\{d-1,d\}$. This implies that the problem is polynomial time equivalent to determining whether a polynomial equation system has a real solution. Moreover, this implies NP-hardness and constitutes the first hardness results for the algorithmic problem of geometric embedding (abstract simplicial) complexes.

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arXiv2021

Tiling with Squares and Packing Dominos in Polynomial Time

A polyomino is a polygonal region with axis parallel edges and corners of integral coordinates, which may have holes. In this paper, we consider planar tiling and packing problems with polyomino pieces and a polyomino container $P$. We give two polynomial time algorithms, one for deciding if $P$ can be tiled with $k\times k$ squares for any fixed $k$ which can be part of the input (that is, deciding if $P$ is the union of a set of non-overlapping $k\times k$ squares) and one for packing $P$ with a maximum number of non-overlapping and axis-parallel $2\times 1$ dominos, allowing rotations by $90^\circ$. As packing is more general than tiling, the latter algorithm can also be used to decide if $P$ can be tiled by $2\times 1$ dominos. These are classical problems with important applications in VLSI design, and the related problem of finding a maximum packing of $2\times 2$ squares is known to be NP-Hard [J. Algorithms 1990]. For our three problems there are known pseudo-polynomial time algorithms, that is, algorithms with running times polynomial in the area of $P$. However, the standard, compact way to represent a polygon is by listing the coordinates of the corners in binary. We use this representation, and thus present the first polynomial time algorithms for the problems. Concretely, we give a simple $O(n\log n)$ algorithm for tiling with squares, and a more involved $O(n^3\,\text{polylog}\, n)$ algorithm for packing and tiling with dominos, where $n$ is the number of corners of $P$.

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arXiv2021

Covering Polygons is Even Harder

In the MINIMUM CONVEX COVER (MCC) problem, we are given a simple polygon $\mathcal P$ and an integer $k$, and the question is if there exist $k$ convex polygons whose union is $\mathcal P$. It is known that MCC is $\mathsf{NP}$-hard [Culberson & Reckhow: Covering polygons is hard, FOCS 1988/Journal of Algorithms 1994] and in $\exists\mathbb{R}$ [O'Rourke: The complexity of computing minimum convex covers for polygons, Allerton 1982]. We prove that MCC is $\exists\mathbb{R}$-hard, and the problem is thus $\exists\mathbb{R}$-complete. In other words, the problem is equivalent to deciding whether a system of polynomial equations and inequalities with integer coefficients has a real solution. If a cover for our constructed polygon exists, then so does a cover consisting entirely of triangles. As a byproduct, we therefore also establish that it is $\exists\mathbb{R}$-complete to decide whether $k$ triangles cover a given polygon. The issue that it was not known if finding a minimum cover is in $\mathsf{NP}$ has repeatedly been raised in the literature, and it was mentioned as a "long-standing open question" already in 2001 [Eidenbenz & Widmayer: An approximation algorithm for minimum convex cover with logarithmic performance guarantee, ESA 2001/SIAM Journal on Computing 2003]. We prove that assuming the widespread belief that $\mathsf{NP}\neq\exists\mathbb{R}$, the problem is not in $\mathsf{NP}$. An implication of the result is that many natural approaches to finding small covers are bound to give suboptimal solutions in some cases, since irrational coordinates of arbitrarily high algebraic degree can be needed for the corners of the pieces in an optimal solution.

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arXiv2021

Chasing Puppies: Mobile Beacon Routing on Closed Curves

We solve an open problem posed by Michael Biro at CCCG 2013 that was inspired by his and others' work on beacon-based routing. Consider a human and a puppy on a simple closed curve in the plane. The human can walk along the curve at bounded speed and change direction as desired. The puppy runs with unbounded speed along the curve as long as the Euclidean straight-line distance to the human is decreasing, so that it is always at a point on the curve where the distance is locally minimal. Assuming that the curve is smooth (with some mild genericity constraints) or a simple polygon, we prove that the human can always catch the puppy in finite time.

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arXiv2021

Minimum Perimeter-Sum Partitions in the Plane

Let $P$ be a set of $n$ points in the plane. We consider the problem of partitioning $P$ into two subsets $P_1$ and $P_2$ such that the sum of the perimeters of $\text{CH}(P_1)$ and $\text{CH}(P_2)$ is minimized, where $\text{CH}(P_i)$ denotes the convex hull of $P_i$. The problem was first studied by Mitchell and Wynters in 1991 who gave an $O(n^2)$ time algorithm. Despite considerable progress on related problems, no subquadratic time algorithm for this problem was found so far. We present an exact algorithm solving the problem in $O(n \log^2 n)$ time and a $(1+\varepsilon)$-approximation algorithm running in $O(n + 1/\varepsilon^2\cdot\log^2(1/\varepsilon))$ time.

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arXiv2021

Best Laid Plans of Lions and Men

We study the following question dating back to J.E. Littlewood (1885-1977): Can two lions catch a man in a bounded area with rectifiable lakes? The lions and the man are all assumed to be points moving with at most unit speed. That the lakes are rectifiable means that their boundaries are finitely long. This requirement is necessary to avoid pathological examples where the man survives forever because any path to the lions is infinitely long. We show that three lions have a winning strategy against a man in a bounded region with finitely many rectifiable lakes. This is "tight" in the sense that there exists a region $R$ in the plane where the man has a strategy to survive forever. We give a rigorous description of such a region $R$; a polygonal region with holes whose exterior and interior boundaries are pairwise disjoint, simple polygons. Finally, we consider the following game played on the entire plane instead of a compact region: There is any finite number of unit speed lions and one fast man who can run with speed $1+\varepsilon$ for some value $\varepsilon>0$. Can the man always survive? We answer the question in the affirmative for any $\varepsilon>0$. By letting the number of lions tend to infinity, we furthermore show that the man can survive against any countably infinite set of lions.

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arXiv2021

Escaping an Infinitude of Lions

We consider the following game played in the Euclidean plane: There is any countable set of unit speed lions and one fast man who can run with speed $1+\varepsilon$ for some value $\varepsilon>0$. Can the man survive? We answer the question in the affirmative for any $\varepsilon>0$.

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arXiv2021

Online Packing to Minimize Area or Perimeter

We consider online packing problems where we get a stream of axis-parallel rectangles. The rectangles have to be placed in the plane without overlapping, and each rectangle must be placed without knowing the subsequent rectangles. The goal is to minimize the perimeter or the area of the axis-parallel bounding box of the rectangles. We either allow rotations by 90 degrees or translations only. For the perimeter version we give algorithms with an absolute competitive ratio slightly less than 4 when only translations are allowed and when rotations are also allowed. We then turn our attention to minimizing the area and show that the asymptotic competitive ratio of any algorithm is at least $Ω(\sqrt{n})$, where $n$ is the number of rectangles in the stream, and this holds with and without rotations. We then present algorithms that match this bound in both cases. We also show that the competitive ratio cannot be bounded as a function of OPT. We then consider two special cases. The first is when all the given rectangles have aspect ratios bounded by some constant. The particular variant where all the rectangles are squares and we want to minimize the area of the bounding square has been studied before and an algorithm with a competitive ratio of 8 has been given [Fekete and Hoffmann, Algorithmica, 2017]. We improve the analysis of the algorithm and show that the ratio is at most 6, which is tight. The second special case is when all edges have length at least 1. Here, the $Ω(\sqrt n)$ lower bound still holds, and we turn our attention to lower bounds depending on OPT. We show that any algorithm has an asymptotic competitive ratio of at least $Ω(\sqrt{OPT})$ for the translational case and $Ω(\sqrt[4]{OPT})$ when rotations are allowed. For both versions, we give algorithms that match the respective lower bounds.

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arXiv2019

Dynamic Toolbox for ETRINV

Recently, various natural algorithmic problems have been shown to be $\exists \mathbb{R}$-complete. The reduction relied in many cases on the $\exists \mathbb{R}$-completeness of the problem ETR-INV, which served as a useful intermediate problem. Often some strengthening and modification of ETR-INV was required. This lead to a cluttered situation where no paper included all the previous details. Here, we give a streamlined exposition in a self-contained manner. We also explain and prove various universality results regarding ETR-INV. These notes should not be seen as a research paper with new results. However, we do describe some refinements of earlier results which might be useful for future research. We plan to extend and update this exposition as seems fit.

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arXiv2019

Disks in Curves of Bounded Convex Curvature

We say that a simple, closed curve $γ$ in the plane has bounded convex curvature if for every point $x$ on $γ$, there is an open unit disk $U_x$ and $\varepsilon_x>0$ such that $x\in\partial U_x$ and $B_{\varepsilon_x}(x)\cap U_x\subset\text{Int}\;γ$. We prove that the interior of every curve of bounded convex curvature contains an open unit disk.

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arXiv2019

Geometric Multicut

We study the following separation problem: Given a collection of colored objects in the plane, compute a shortest "fence" $F$, i.e., a union of curves of minimum total length, that separates every two objects of different colors. Two objects are separated if $F$ contains a simple closed curve that has one object in the interior and the other in the exterior. We refer to the problem as GEOMETRIC $k$-CUT, where $k$ is the number of different colors, as it can be seen as a geometric analogue to the well-studied multicut problem on graphs. We first give an $O(n^4\log^3 n)$-time algorithm that computes an optimal fence for the case where the input consists of polygons of two colors and $n$ corners in total. We then show that the problem is NP-hard for the case of three colors. Finally, we give a $(2-4/3k)$-approximation algorithm.

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arXiv2019

Classifying Convex Bodies by their Contact and Intersection Graphs

Suppose that $A$ is a convex body in the plane and that $A_1,\dots,A_n$ are translates of $A$. Such translates give rise to an intersection graph of $A$, $G=(V,E)$, with vertices $V=\{1,\dots,n\}$ and edges $E=\{uv\mid A_u\cap A_v\neq \emptyset\}$. The subgraph $G'=(V, E')$ satisfying that $E'\subset E$ is the set of edges $uv$ for which the interiors of $A_u$ and $A_v$ are disjoint is a unit distance graph of $A$. If furthermore $G'=G$, i.e., if the interiors of $A_u$ and $A_v$ are disjoint whenever $u\neq v$, then $G$ is a contact graph of $A$. In this paper we study which pairs of convex bodies have the same contact, unit distance, or intersection graphs. We say that two convex bodies $A$ and $B$ are equivalent if there exists a linear transformation $B'$ of $B$ such that for any slope, the longest line segments with that slope contained in $A$ and $B'$, respectively, are equally long. For a broad class of convex bodies, including all strictly convex bodies and linear transformations of regular polygons, we show that the contact graphs of $A$ and $B$ are the same if and only if $A$ and $B$ are equivalent. We prove the same statement for unit distance and intersection graphs.

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arXiv2018

Common tangents of two disjoint polygons in linear time and constant workspace

We provide a remarkably simple algorithm to compute all (at most four) common tangents of two disjoint simple polygons. Given each polygon as a read-only array of its corners in cyclic order, the algorithm runs in linear time and constant workspace and is the first to achieve the two complexity bounds simultaneously. The set of common tangents provides basic information about the convex hulls of the polygons---whether they are nested, overlapping, or disjoint---and our algorithm thus also decides this relationship.

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arXiv2018

The Art Gallery Problem is $\exists \mathbb{R}$-complete

We prove that the art gallery problem is equivalent under polynomial time reductions to deciding whether a system of polynomial equations over the real numbers has a solution. The art gallery problem is a classical problem in computational geometry. Given a simple polygon $P$ and an integer $k$, the goal is to decide if there exists a set $G$ of $k$ guards within $P$ such that every point $p\in P$ is seen by at least one guard $g\in G$. Each guard corresponds to a point in the polygon $P$, and we say that a guard $g$ sees a point $p$ if the line segment $pg$ is contained in $P$. The art gallery problem has stimulated extensive research in geometry and in algorithms. However, the complexity status of the art gallery problem has not been resolved. It has long been known that the problem is $\text{NP}$-hard, but no one has been able to show that it lies in $\text{NP}$. Recently, the computational geometry community became more aware of the complexity class $\exists \mathbb{R}$. The class $\exists \mathbb{R}$ consists of problems that can be reduced in polynomial time to the problem of deciding whether a system of polynomial equations with integer coefficients and any number of real variables has a solution. It can be easily seen that $\text{NP}\subseteq \exists \mathbb{R}$. We prove that the art gallery problem is $\exists \mathbb{R}$-complete, implying that (1) any system of polynomial equations over the real numbers can be encoded as an instance of the art gallery problem, and (2) the art gallery problem is not in the complexity class $\text{NP}$ unless $\text{NP}=\exists \mathbb{R}$. As a corollary of our construction, we prove that for any real algebraic number $α$ there is an instance of the art gallery problem where one of the coordinates of the guards equals $α$ in any guard set of minimum cardinality. That rules out many geometric approaches to the problem.

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arXiv2018

Fast Fencing

We consider very natural "fence enclosure" problems studied by Capoyleas, Rote, and Woeginger and Arkin, Khuller, and Mitchell in the early 90s. Given a set $S$ of $n$ points in the plane, we aim at finding a set of closed curves such that (1) each point is enclosed by a curve and (2) the total length of the curves is minimized. We consider two main variants. In the first variant, we pay a unit cost per curve in addition to the total length of the curves. An equivalent formulation of this version is that we have to enclose $n$ unit disks, paying only the total length of the enclosing curves. In the other variant, we are allowed to use at most $k$ closed curves and pay no cost per curve. For the variant with at most $k$ closed curves, we present an algorithm that is polynomial in both $n$ and $k$. For the variant with unit cost per curve, or unit disks, we present a near-linear time algorithm. Capoyleas, Rote, and Woeginger solved the problem with at most $k$ curves in $n^{O(k)}$ time. Arkin, Khuller, and Mitchell used this to solve the unit cost per curve version in exponential time. At the time, they conjectured that the problem with $k$ curves is NP-hard for general $k$. Our polynomial time algorithm refutes this unless P equals NP.

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