arXiv subjects

Sujoy Bhore

Publications and source records attributed to Sujoy Bhore.

At least 37 records · Page 2Linked to original sources

arXiv2025

Multi-robot searching with limited sensing range for static and mobile intruders

We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a limited sensing capability. We study the problem for both static and mobile intruders. It turns out that the problem of finding an intruder is NP-hard, even for a stationary intruder. Given this intractability, we turn our attention towards developing efficient and robust algorithms, namely methods based on space-filling curves, random search, and cooperative random search. Moreover, for each proposed algorithm, we evaluate the trade-off between the number of search robots and the time required for the robots to complete the search process while considering the geometric properties of the connected orthogonal search area.

cs.RO↗

arXiv2025

Event Driven CBBA with Reduced Communication

In various scenarios such as multi-drone surveillance and search-and-rescue operations, deploying multiple robots is essential to accomplish multiple tasks at once. Due to the limited communication range of these vehicles, a decentralised task allocation algorithm is crucial for effective task distribution among robots. The consensus-based bundle algorithm (CBBA) has been promising for multi-robot operation, offering theoretical guarantees. However, CBBA demands continuous communication, leading to potential congestion and packet loss that can hinder performance. In this study, we introduce an event-driven communication mechanism designed to address these communication challenges while maintaining the convergence and performance bounds of CBBA. We demonstrate theoretically that the solution quality matches that of CBBA and validate the approach with Monte-Carlo simulations across varying targets, agents, and bundles. Results indicate that the proposed algorithm (ED-CBBA) can reduce message transmissions by up to 52%.

cs.RO↗

arXiv2025

Light Spanners with Small Hop-Diameter

Lightness, sparsity, and hop-diameter are the fundamental parameters of geometric spanners. Arya et al. [STOC'95] showed in their seminal work that there exists a construction of Euclidean $(1+\varepsilon)$-spanners with hop-diameter $O(\log n)$ and lightness $O(\log n)$. They also gave a general tradeoff of hop-diameter $k$ and sparsity $O(α_k(n))$, where $α_k$ is a very slowly growing inverse of an Ackermann-style function. The former combination of logarithmic hop-diameter and lightness is optimal due to the lower bound by Dinitz et al. [FOCS'08]. Later, Elkin and Solomon [STOC'13] generalized the light spanner construction to doubling metrics and extended the tradeoff for more values of hop-diameter $k$. In a recent line of work [SoCG'22, SoCG'23], Le et al. proved that the aforementioned tradeoff between the hop-diameter and sparsity is tight for every choice of hop-diameter $k$. A fundamental question remains: What is the optimal tradeoff between the hop-diameter and lightness for every value of $k$? In this paper, we present a general framework for constructing light spanners with small hop-diameter. Our framework is based on tree covers. In particular, we show that if a metric admits a tree cover with $γ$ trees, stretch $t$, and lightness $L$, then it also admits a $t$-spanner with hop-diameter $k$ and lightness $O(kn^{2/k}\cdot γL)$. Further, we note that the tradeoff for trees is tight due to a construction in uniform line metric, which is perhaps the simplest tree metric. As a direct consequence of this framework, we obtain a tight tradeoff between lightness and hop-diameter for doubling metrics in the entire regime of $k$.

cs.DS↗

arXiv2025

Sparse Bounded Hop-Spanners for Geometric Intersection Graphs

We present new results on $2$- and $3$-hop spanners for geometric intersection graphs. These include improved upper and lower bounds for $2$- and $3$-hop spanners for many geometric intersection graphs in $\mathbb{R}^d$. For example, we show that the intersection graph of $n$ balls in $\mathbb{R}^d$ admits a $2$-hop spanner of size $O^*\left(n^{\frac{3}{2}-\frac{1}{2(2\lfloor d/2\rfloor +1)}}\right)$ and the intersection graph of $n$ fat axis-parallel boxes in $\mathbb{R}^d$ admits a $2$-hop spanner of size $O(n \log^{d+1}n)$. Furthermore, we show that the intersection graph of general semi-algebraic objects in $\mathbb{R}^d$ admits a $3$-hop spanner of size $O^*\left(n^{\frac{3}{2}-\frac{1}{2(2D-1)}}\right)$, where $D$ is a parameter associated with the description complexity of the objects. For such families (or more specifically, for tetrahedra in $\mathbb{R}^3$), we provide a lower bound of $Ω(n^{\frac{4}{3}})$. For $3$-hop and axis-parallel boxes in $\mathbb{R}^d$, we provide the upper bound $O(n \log ^{d-1}n)$ and lower bound $Ω\left(n (\frac{\log n}{\log \log n})^{d-2}\right)$.

cs.CG↗

arXiv2025

Limiting Disease Spreading in Human Networks

The outbreak of a pandemic, such as COVID-19, causes major health crises worldwide. Typical measures to contain the rapid spread usually include effective vaccination and strict interventions (Nature Human Behaviour, 2021). Motivated by such circumstances, we study the problem of limiting the spread of a disease over a social network system. In their seminal work (KDD 2003), Kempe, Kleinberg, and Tardos introduced two fundamental diffusion models, the linear threshold and independent cascade, for the influence maximization problem. In this work, we adopt these models in the context of disease spreading and study effective vaccination mechanisms. Our broad goal is to limit the spread of a disease in human networks using only a limited number of vaccines. However, unlike the influence maximization problem, which typically does not require spatial awareness, disease spreading occurs in spatially structured population networks. Thus, standard Erdos-Renyi graphs do not adequately capture such networks. To address this, we study networks modeled as generalized random geometric graphs, introduced in the seminal work of Waxman (IEEE J. Sel. Areas Commun. 1988). We show that for disease spreading, the optimization function is neither submodular nor supermodular, in contrast to influence maximization, where the function is submodular. Despite this intractability, we develop novel algorithms leveraging local search and greedy techniques, which perform exceptionally well in practice. We compare them against an exact ILP-based approach to further demonstrate their robustness. Moreover, we introduce an iterative rounding mechanism for the relaxed LP formulation. Overall, our methods establish tight trade-offs between efficiency and approximation loss.

cs.SI↗

arXiv2024

Approximation Schemes for Geometric Knapsack for Packing Spheres and Fat Objects

We study the geometric knapsack problem in which we are given a set of $d$-dimensional objects (each with associated profits) and the goal is to find the maximum profit subset that can be packed non-overlappingly into a given $d$-dimensional (unit hypercube) knapsack. Even if $d=2$ and all input objects are disks, this problem is known to be \textsf{NP}-hard [Demaine, Fekete, Lang, 2010]. In this paper, we give polynomial time $(1+\varepsilon)$-approximation algorithms for the following types of input objects in any constant dimension $d$: - disks and hyperspheres, - a class of fat convex polygons that generalizes regular $k$-gons for $k\ge 5$ (formally, polygons with a constant number of edges, whose lengths are in a bounded range, and in which each angle is strictly larger than $π/2$), - arbitrary fat convex objects that are sufficiently small compared to the knapsack. We remark that in our \textsf{PTAS} for disks and hyperspheres, we output the computed set of objects, but for a $O_\varepsilon(1)$ of them, we determine their coordinates only up to an exponentially small error. However, it is unclear whether there always exists a $(1+\varepsilon)$-approximate solution that uses only rational coordinates for the disks' centers. We leave this as an open problem that is related to well-studied geometric questions in the realm of circle packing.

cs.CG↗

arXiv2024

Online Duet between Metric Embeddings and Minimum-Weight Perfect Matchings

Low-distortional metric embeddings are a crucial component in the modern algorithmic toolkit. In an online metric embedding, points arrive sequentially and the goal is to embed them into a simple space irrevocably, while minimizing the distortion. Our first result is a deterministic online embedding of a general metric into Euclidean space with distortion $O(\log n)\cdot\min\{\sqrt{\logΦ},\sqrt{n}\}$ (or, $O(d)\cdot\min\{\sqrt{\logΦ},\sqrt{n}\}$ if the metric has doubling dimension $d$), solving a conjecture by Newman and Rabinovich (2020), and quadratically improving the dependence on the aspect ratio $Φ$ from Indyk et al.\ (2010). Our second result is a stochastic embedding of a metric space into trees with expected distortion $O(d\cdot \logΦ)$, generalizing previous results (Indyk et al.\ (2010), Bartal et al.\ (2020)). Next, we study the \emph{online minimum-weight perfect matching} problem, where a sequence of $2n$ metric points arrive in pairs, and one has to maintain a perfect matching at all times. We allow recourse (as otherwise the order of arrival determines the matching). The goal is to return a perfect matching that approximates the \emph{minimum-weight} perfect matching at all times, while minimizing the recourse. Our third result is a randomized algorithm with competitive ratio $O(d\cdot \log Φ)$ and recourse $O(\log Φ)$ against an oblivious adversary, this result is obtained via our new stochastic online embedding. Our fourth result is a deterministic algorithm against an adaptive adversary, using $O(\log^2 n)$ recourse, that maintains a matching of weight at most $O(\log n)$ times the weight of the MST, i.e., a matching of lightness $O(\log n)$. We complement our upper bounds with a strategy for an oblivious adversary that, with recourse $r$, establishes a lower bound of $Ω(\frac{\log n}{r \log r})$ for both competitive ratio and lightness.

cs.DS↗

arXiv2024

Online Epsilon Net and Piercing Set for Geometric Concepts

VC-dimension and $\varepsilon$-nets are key concepts in Statistical Learning Theory. Intuitively, VC-dimension is a measure of the size of a class of sets. The famous $\varepsilon$-net theorem, a fundamental result in Discrete Geometry, asserts that if the VC-dimension of a set system is bounded, then a small sample exists that intersects all sufficiently large sets. In online learning scenarios where data arrives sequentially, the VC-dimension helps to bound the complexity of the set system, and $\varepsilon$-nets ensure the selection of a small representative set. This sampling framework is crucial in various domains, including spatial data analysis, motion planning in dynamic environments, optimization of sensor networks, and feature extraction in computer vision, among others. Motivated by these applications, we study the online $\varepsilon$-net problem for geometric concepts with bounded VC-dimension. While the offline version of this problem has been extensively studied, surprisingly, there are no known theoretical results for the online version to date. We present the first deterministic online algorithm with an optimal competitive ratio for intervals in $\mathbb{R}$. Next, we give a randomized online algorithm with a near-optimal competitive ratio for axis-aligned boxes in $\mathbb{R}^d$, for $d\le 3$. Furthermore, we introduce a novel technique to analyze similar-sized objects of constant description complexity in $\mathbb{R}^d$, which may be of independent interest. Next, we focus on the continuous version of this problem, where ranges of the set system are geometric concepts in $\mathbb{R}^d$ arriving in an online manner, but the universe is the entire space, and the objective is to choose a small sample that intersects all the ranges.

cs.LG↗

arXiv2024

Fast Static and Dynamic Approximation Algorithms for Geometric Optimization Problems: Piercing, Independent Set, Vertex Cover, and Matching

We develop simple and general techniques to obtain faster (near-linear time) static approximation algorithms, as well as efficient dynamic data structures, for four fundamental geometric optimization problems: minimum piercing set (MPS), maximum independent set (MIS), minimum vertex cover (MVC), and maximum-cardinality matching (MCM). Highlights of our results include the following: * For $n$ axis-aligned boxes in any constant dimension $d$, we give an $O(\log \log n)$-approximation algorithm for MPS that runs in $O(n^{1+δ})$ time for an arbitrarily small constant $δ>0$. This significantly improves the previous $O(\log\log n)$-approximation algorithm by Agarwal, Har-Peled, Raychaudhury, and Sintos (SODA~2024), which ran in $O(n^{d/2}\mathop{\rm polylog} n)$ time. * Furthermore, we show that our algorithm can be made fully dynamic with $O(n^δ)$ amortized update time. Previously, Agarwal et al.~(SODA~2024) obtained dynamic results only in $\mathbb{R}^2$ and achieved only $O(\sqrt{n}\mathop{\rm polylog} n)$ amortized expected update time. * For $n$ axis-aligned rectangles in $\mathbb{R}^2$, we give an $O(1)$-approximation algorithm for MIS that runs in $O(n^{1+δ})$ time. Our result significantly improves the running time of the celebrated algorithm by Mitchell (FOCS~2021) (which was about $O(n^{21})$), and answers one of his open questions. Our algorithm can also be made fully dynamic with $O(n^δ)$ amortized update time. * For $n$ (unweighted or weighted) fat objects in any constant dimension, we give a dynamic $O(1)$-approximation algorithm for MIS with $O(n^δ)$ amortized update time. * For disks in $\mathbb{R}^2$ or hypercubes in any constant dimension, we give the first fully dynamic $(1+\varepsilon)$-approximation algorithms for MVC and MCM with $O(\mathop{\rm polylog}n)$ amortized update time.

cs.CG↗

arXiv2024

Geometric Bipartite Matching is in NC

In this work, we study the parallel complexity of the Euclidean minimum-weight perfect matching (EWPM) problem. Here our graph is the complete bipartite graph $G$ on two sets of points $A$ and $B$ in $\mathbb{R}^2$ and the weight of each edge is the Euclidean distance between the corresponding points. The weighted perfect matching problem on general bipartite graphs is known to be in RNC [Mulmuley, Vazirani, and Vazirani, 1987], and Quasi-NC [Fenner, Gurjar, and Thierauf, 2016]. Both of these results work only when the weights are of $O(\log n)$ bits. It is a long-standing open question to show the problem to be in NC. First, we show that for EWPM, a linear number of bits of approximation is required to distinguish between the minimum-weight perfect matching and other perfect matchings. Next, we show that the EWPM problem that allows up to $\frac{1}{poly(n)}$ additive error, is in NC.

cs.CG↗

arXiv2024

Spanners in Planar Domains via Steiner Spanners and non-Steiner Tree Covers

We study spanners in planar domains, including polygonal domains, polyhedral terrain, and planar metrics. Previous work showed that for any constant $ε\in (0,1)$, one could construct a $(2+ε)$-spanner with $O(n\log(n))$ edges (SICOMP 2019), and there is a lower bound of $Ω(n^2)$ edges for any $(2-ε)$-spanner (SoCG 2015). The main open question is whether a linear number of edges suffices and the stretch can be reduced to $2$. We resolve this problem by showing that for stretch $2$, one needs $Ω(n\log n)$ edges, and for stretch $2+ε$ for any fixed $ε\in (0,1)$, $O(n)$ edges are sufficient. Our lower bound is the first super-linear lower bound for stretch $2$. En route to achieve our result, we introduce the problem of constructing non-Steiner tree covers for metrics, which is a natural variant of the well-known Steiner point removal problem for trees (SODA 2001). Given a tree and a set of terminals in the tree, our goal is to construct a collection of a small number of dominating trees such that for every two points, at least one tree in the collection preserves their distance within a small stretch factor. Here, we identify an unexpected threshold phenomenon around $2$ where a sharp transition from $n$ trees to $Θ(\log n)$ trees and then to $O(1)$ trees happens. Specifically, (i) for stretch $ 2-ε$, one needs $Ω(n)$ trees; (ii) for stretch $2$, $Θ(\log n)$ tree is necessary and sufficient; and (iii) for stretch $2+ε$, a constant number of trees suffice. Furthermore, our lower bound technique for the non-Steiner tree covers of stretch $2$ has further applications in proving lower bounds for two related constructions in tree metrics: reliable spanners and locality-sensitive orderings. Our lower bound for locality-sensitive orderings matches the best upper bound (STOC 2022).

cs.CG↗

arXiv2024

Fully Dynamic Geometric Vertex Cover and Matching

In this work, we study two fundamental graph optimization problems, minimum vertex cover (MVC) and maximum-cardinality matching (MCM), for intersection graphs of geometric objects, e.g., disks, rectangles, hypercubes, etc., in $d$-dimensional Euclidean space. We consider the problems in fully dynamic settings, allowing insertions and deletions of objects. We develop a general framework for dynamic MVC in intersection graphs, achieving sublinear amortized update time for most natural families of geometric objects. In particular, we show that - - For a dynamic collection of disks in $\mathbb{R}^2$ or hypercubes in $\mathbb{R}^d$ (for constant $d$), it is possible to maintain a $(1+\varepsilon)$-approximate vertex cover in polylog amortized update time. These results also hold in the bipartite case. - For a dynamic collection of rectangles in $\mathbb{R}^2$, it is possible to maintain a $(\frac{3}{2}+\varepsilon)$-approximate vertex cover in polylog amortized update time. Along the way, we obtain the first near-linear time static algorithms for MVC in the above two cases with the same approximation factors. Next, we turn our attention to the MCM problem. Although our MVC algorithms automatically allow us to approximate the size of the MCM in bipartite geometric intersection graphs, they do not produce a matching. We give another general framework to maintain an approximate maximum matching, and further extend the approach to handle non-bipartite intersection graphs. In particular, we show that - - For a dynamic collection of (bichromatic or monochromatic) disks in $\mathbb{R}^2$ or hypercubes in $\mathbb{R}^d$ (for constant $d$), it is possible to maintain a $(1+\varepsilon)$-approximate matching in polylog amortized update time.

cs.CG↗

arXiv2023

Fully Dynamic Maximum Independent Sets of Disks in Polylogarithmic Update Time

A fundamental question is whether one can maintain a maximum independent set in polylogarithmic update time for a dynamic collection of geometric objects in Euclidean space. Already, for a set of intervals, it is known that no dynamic algorithm can maintain an exact maximum independent set in sublinear update time. Therefore, the typical objective is to explore the trade-off between update time and solution size. Substantial efforts have been made in recent years to understand this question for various families of geometric objects, such as intervals, hypercubes, hyperrectangles, and fat objects. We present the first fully dynamic approximation algorithm for disks of arbitrary radii in the plane that maintains a constant-factor approximate maximum independent set in polylogarithmic expected amortized update time. Moreover, for a fully dynamic set of $n$ disks of unit radius in the plane, we show that a $12$-approximate maximum independent set can be maintained with worst-case update time $O(\log n)$, and optimal output-sensitive reporting. This result generalizes to fat objects of comparable sizes in any fixed dimension $d$, where the approximation ratio depends on the dimension and the fatness parameter. Further, we note that, even for a dynamic set of disks of unit radius in the plane, it is impossible to maintain $O(1+\varepsilon)$-approximate maximum independent set in truly sublinear update time, under standard complexity assumptions.

cs.CG↗

arXiv2023

On Colorful Vertex and Edge Cover Problems

In this paper, we study two generalizations of Vertex Cover and Edge Cover, namely Colorful Vertex Cover and Colorful Edge Cover. In the Colorful Vertex Cover problem, given an $n$-vertex edge-colored graph $G$ with colors from $\{1, \ldots, ω\}$ and coverage requirements $r_1, r_2, \ldots, r_ω$, the goal is to find a minimum-sized set of vertices that are incident on at least $r_i$ edges of color $i$, for each $1 \le i \le ω$, i.e., we need to cover at least $r_i$ edges of color $i$. Colorful Edge Cover is similar to Colorful Vertex Cover, except here we are given a vertex-colored graph and the goal is to cover at least $r_i$ vertices of color $i$, for each $1 \le i \le ω$, by a minimum-sized set of edges. These problems have several applications in fair covering and hitting of geometric set systems involving points and lines that are divided into multiple groups. Here, fairness ensures that the coverage (resp. hitting) requirement of every group is fully satisfied. We obtain a $(2+ε)$-approximation for the Colorful Vertex Cover problem in time $n^{O(ω/ε)}$. Thus, for a constant number of colors, the problem admits a $(2+ε)$-approximation in polynomial time. Next, for the Colorful Edge Cover problem, we design an $O(ωn^3)$ time exact algorithm, via a chain of reductions to a matching problem. For all intermediate problems in this chain of reductions, we design polynomial-time algorithms, which might be of independent interest.

cs.DS↗

arXiv2023

Dynamic Euclidean Bottleneck Matching

A fundamental question in computational geometry is for a set of input points in the Euclidean space, that is subject to discrete changes (insertion/deletion of points at each time step), whether it is possible to maintain an approximate bottleneck matching in sublinear update time. In this work, we answer this question in the affirmative for points on a real line and for points in the plane with a bounded geometric spread. For a set $P$ of $n$ points on a line, we show that there exists a dynamic algorithm that maintains a bottleneck matching of $P$ and supports insertion and deletion in $O(\log n)$ time. Moreover, we show that a modified version of this algorithm maintains a minimum-weight matching with $O(\log n)$ update (insertion and deletion) time. Next, for a set $P$ of $n$ points in the plane, we show that a ($6\sqrt{2}$)-factor approximate bottleneck matching of $P_k$, at each time step $k$, can be maintained in $O(\logΔ)$ amortized time per insertion and $O(\logΔ + |P_k|)$ amortized time per deletion, where $Δ$ is the geometric spread of $P$.

cs.CG↗

arXiv2023

Extending Orthogonal Planar Graph Drawings is Fixed-Parameter Tractable

The task of finding an extension to a given partial drawing of a graph while adhering to constraints on the representation has been extensively studied in the literature, with well-known results providing efficient algorithms for fundamental representations such as planar and beyond-planar topological drawings. In this paper, we consider the extension problem for bend-minimal orthogonal drawings of planar connected graphs, which is among the most fundamental geometric graph drawing representations. While the problem was known to be \NP-hard, it is natural to consider the case where only a small part of the graph is still to be drawn. Here, we establish the fixed-parameter tractability of the problem when parameterized by the size of the missing subgraph. Our algorithm is based on multiple novel ingredients which intertwine geometric and combinatorial arguments. These include the identification of a new graph representation of bend-equivalent regions for vertex placement in the plane, establishing a bound on the treewidth of this auxiliary graph, and a global point-grid that allows us to discretize the possible placement of bends and vertices into locally bounded subgrids for each of the above regions.

cs.CG↗

arXiv2022

Minimum Link Fencing

We study a variant of the geometric multicut problem, where we are given a set $\mathcal{P}$ of colored and pairwise interior-disjoint polygons in the plane. The objective is to compute a set of simple closed polygon boundaries (fences) that separate the polygons in such a way that any two polygons that are enclosed by the same fence have the same color, and the total number of links of all fences is minimized. We call this the minimum link fencing (MLF) problem and consider the natural case of bounded minimum link fencing (BMLF), where $\mathcal{P}$ contains a polygon $Q$ that is unbounded in all directions and can be seen as an outer polygon. We show that BMLF is NP-hard in general and that it is XP-time solvable when each fence contains at most two polygons and the number of segments per fence is the parameter. Finally, we present an $O(n \log n)$-time algorithm for the case that the convex hull of $\mathcal{P} \setminus \{Q\}$ does not intersect $Q$.

cs.CG↗

arXiv2022

Geometric Planar Networks on Bichromatic Points

We study three classical graph problems - Hamiltonian path, minimum spanning tree, and minimum perfect matching on geometric graphs induced by bichromatic (red and blue) points. These problems have been widely studied for points in the Euclidean plane, and many of them are NP-hard. In this work, we consider these problems for collinear points. We show that almost all of these problems can be solved in linear time in this setting.

cs.CG↗