The orthogonal convex skull problem

We give a combinatorial definition of the notion of a simple orthogonal polygon beingk-concave, wherek is a nonnegative integer. (A polygon is orthogonal if its edges are only horizontal or vertical.) Under this definition an orthogonal polygon which is 0-concave is convex, that is, it is a rectangle, and one that is 1-concave is orthoconvex in the usual sense, and vice versa. Then we consider the problem of computing an orthoconvex orthogonal polygon of maximal area contained in a simple orthogonal polygon. This is the orthogonal version of the potato peeling problem. AnO(n ²) algorithm is presented, which is a substantial improvement over theO(n ⁷) time algorithm for the general problem.The work of the first author was supported under a Natural Sciences and Engineering Research Council of Canada Grant No. A-5692 and the work of the second author was partially supported by NSF Grants Nos. DCR-84-01898 and DCR-84-01633.     

A Pedestrian Approach to Ray Shooting: Shoot a Ray, Take a Walk

We propose a very simple ray-shooting algorithm, whose only data structure is a triangulation. The query algorithm, after locating the triangle containing the origin of the ray, walks along the ray, advancing from one triangle to a neighboring one until the polygon boundary is reached. The key result of the paper is a Steiner triangulation of a simple polygon with the property that a ray can intersect at most O(log n) triangles before reaching the polygon boundary. We are able to compute such a triangulation in linear sequential time, or in O(log n) parallel time using O(n/log n) processors. This gives a simple, yet optimal, ray-shooting algorithm for a simple polygon. Using a well-known technique, we can extend our triangulation procedure to a multiconnected polygon with k components and n vertices, so that a ray intersects at most O(√k log n) triangles.     

A linear worst-case lower bound on the number of holes inside regions visible due to multiple diffuse reflections

It is known that the region V(s) of a simple polygon P, directly visible (illuminable) from an internal point s, is simply connected. Aronov et al. [2] established that the region V₁(s) of a simple polygon visible from an internal point s due to at most one diffuse reflection on the boundary of the polygon P, is also simply connected. In this paper we establish that the region V₂(s), visible from s due to at most two diffuse reflections may be multiply connected; we demonstrate the construction of an n-sided simple polygon with a point s inside it so that the region of P visible from s after at most two diffuse reflections is multiply connected. We also show that V₃(s), the region of P visible from s after at most three diffuse reflections, can have (n) holes.A part of this work was done when this author was visiting the University of Miami, Coral Gables, Florida, USA.     

Visibility Queries and Maintenance in Simple Polygons

Abstract. In this paper we explore some novel aspects of visibility for stationary and moving points inside a simple polygon P . We provide a mechanism for expressing the visibility polygon from a point as the disjoint union of logarithmically many canonical pieces using a quadratic-space data structure. This allows us to report visibility polygons in time proportional to their size, but without the cubic space overhead of earlier methods. The same canonical decomposition can be used to determine visibility within a frustum, or to compute various attributes of the visibility polygon efficiently. By exploring the connection between visibility polygons and shortest-path trees, we obtain a kinetic algorithm that can track the visibility polygon as the viewpoint moves along polygonal paths inside P , at a polylogarithmic cost per combinatorial change in the visibility or in the flight plan of the point. The combination of the static and kinetic algorithms leads to a new static algorithm in which we can trade off space for increased overhead in the query time. As another application, we obtain an algorithm which computes the weak visibility polygon from a query segment inside P in output-sensitive time.     

Diffuse reflection diameter and radius for convex-quadrilateralizable polygons

In this paper we study the diffuse reflection diameter and diffuse reflection radius problems for convex-quadrilateralizable polygons. In the usual model of diffuse reflection, a light ray incident at a point on the reflecting surface is reflected from that point in all possible inward directions. A ray reflected from a polygonal edge may graze that reflecting edge but an incident ray cannot graze the reflecting edge. The diffuse reflection diameter of a simple polygon $P$ is the minimum number of diffuse reflections that may be needed in the worst case to illuminate any target point $t$ from any point light source $s$ inside $P$. We show that the diameter is upper bounded by $\frac{3n?10}{4}$ in our usual model of diffuse reflection for convex-quadrilateralizable polygons. To the best of our knowledge, this is the first upper bound on diffuse reflection diameter within a fraction of $n$ for such a class of polygons. We also show that the diffuse reflection radius of a convex-quadrilateralizable simple polygon with $n$ vertices is at most $\frac{3n?10}{8}$ under the usual model of diffuse reflection. In other words, there exists a point inside such a polygon from which $\frac{3n?10}{8}$ usual diffuse reflections are always sufficient to illuminate the entire polygon. In order to establish these bounds for the usual model, we first show that the diameter and radius are $\frac{n?4}{2}$ and $?\frac{n?4}{4}?$ respectively, for the same class of polygons for a relaxed model of diffuse reflections; in the relaxed model an incident ray is permitted to graze a reflecting edge before turning and reflecting off the same edge at any interior point on that edge. We also show that the worst-case diameter and radius lower bounds of $\frac{n?4}{2}$ and $?\frac{n?4}{4}?$ respectively, are sometimes attained in the usual model, as well as in the relaxed model of diffuse reflection.     

Flipturning Polygons

   Abstract. A flipturn transforms a nonconvex simple polygon into another simple polygon by rotating a concavity 180° around the midpoint of its bounding convex hull edge. Joss and Shannon proved in 1973 that a sequence of flipturns eventually transforms any simple polygon into a convex polygon. This paper describes several new results about such flipturn sequences. We show that any orthogonal polygon is convexified after at most n-5 arbitrary flipturns, or at most

Computing the maximum clique in the visibility graph of a simple polygon

In this paper, we present an algorithm for computing the maximum clique in the visibility graph G of a simple polygon P in O(n²e) time, where n and e are number of vertices and edges of G respectively. We also present an O(ne) time algorithm for computing the maximum hidden vertex set in the visibility graph G of a convex fan P. We assume in both algorithms that the Hamiltonian cycle in G that corresponds to the boundary of P is given as an input along with G.     

Isomorphism of spiral polygons

We call two polygonsisomorphic if there is a one-to-one mapping between theirpoints (not vertices) that preserves visibility. In this paper we establish necessary and sufficient conditions for two spiral polygons to be isomorphic, and give anO(n ² ) algorithm to detect such isomorphism. We also show that the continuous graph of visibility on the points of a spiral polygon is an (uncountably infinite) interval graph, and that no other polygons have this property. This research was supported by the Natural Sciences and Engineering Research Council of Canada under Research Grant Number OGP0046218 and a Post-Graduate Scholarship.     

Shortest watchman routes in simple polygons

In this paper we present an O(n ⁴, log logn) algorithm to find a shortest watchman route in a simple polygon through a point,s, in its boundary. A watchman route is a route such that each point in the interior of the polygon is visible from at least one point along the route. S. Ntafos was supported in part by a grant from Texas Instruments, Inc.     

New Similarity Measures between Polylines with Applications to Morphing and Polygon Sweeping

   Abstract. We introduce two new related metrics, the geodesic width and the link width , for measuring the ``distance' between two nonintersecting polylines in the plane. If the two polylines have n vertices in total, we present algorithms to compute the geodesic width of the two polylines in O(n <sup>2</sup> log n) time using O(n <sup>2</sup> ) space and the link width in O(n <sup>3</sup> log n) time using O(n <sup>2</sup> ) working space where n is the total number of edges of the polylines. Our computation of these metrics relies on two closely related combinatorial strutures: the shortest-path diagram and the link diagram of a simple polygon. The shortest-path (resp., link) diagram encodes the Euclidean (resp., link) shortest path distance between all pairs of points on the boundary of the polygon. We use these algorithms to solve two problems: • Compute a continuous transformation that ``morphs' one polyline into another polyline. Our morphing strategies ensure that each point on a polyline moves as little as necessary during the morphing, that every intermediate polyline is also simple and disjoint to any other intermediate polyline, and that no portion of the polylines to be morphed is stretched or compressed by more than a user-defined parameter during the entire morphing. We present an algorithm that computes the geodesic width of the two polylines and utilizes it to construct a corresponding morphing strategy in O(n ² log ² n) time using O(n ² ) space. We also give an O(nlog n) time algorithm to compute a 2-approximation of the geodesic width and a corresponding morphing scheme. • Locate a continuously moving target using a group of guards moving inside a simple polygon. The guards always determine a simple polygonal chain within the polygon, with consecutive guards along the chain being mutually visible. We compute a strategy that sweeps such a chain of guards through the polygon in order to locate a target. We compute in O(n ³ ) time and O(n ² ) working space the minimum number r ^* of guards needed to sweep an n -vertex polygon. We also give an approximation algorithm, using O(n log n) time and O(n) space, to compute an integer r such that max(r - 16, 2)≤ r ^* ≤ r and P can be swept with a chain of r guards.     

New Similarity Measures between Polylines with Applications to Morphing and Polygon Sweeping

Abstract. We introduce two new related metrics, the geodesic width and the link width , for measuring the ``distance' between two nonintersecting polylines in the plane. If the two polylines have n vertices in total, we present algorithms to compute the geodesic width of the two polylines in O(n <sup>2</sup> log n) time using O(n <sup>2</sup> ) space and the link width in O(n <sup>3</sup> log n) time using O(n <sup>2</sup> ) working space where n is the total number of edges of the polylines. Our computation of these metrics relies on two closely related combinatorial strutures: the shortest-path diagram and the link diagram of a simple polygon. The shortest-path (resp., link) diagram encodes the Euclidean (resp., link) shortest path distance between all pairs of points on the boundary of the polygon. We use these algorithms to solve two problems: • Compute a continuous transformation that ``morphs' one polyline into another polyline. Our morphing strategies ensure that each point on a polyline moves as little as necessary during the morphing, that every intermediate polyline is also simple and disjoint to any other intermediate polyline, and that no portion of the polylines to be morphed is stretched or compressed by more than a user-defined parameter during the entire morphing. We present an algorithm that computes the geodesic width of the two polylines and utilizes it to construct a corresponding morphing strategy in O(n ² log ² n) time using O(n ² ) space. We also give an O(nlog n) time algorithm to compute a 2-approximation of the geodesic width and a corresponding morphing scheme. • Locate a continuously moving target using a group of guards moving inside a simple polygon. The guards always determine a simple polygonal chain within the polygon, with consecutive guards along the chain being mutually visible. We compute a strategy that sweeps such a chain of guards through the polygon in order to locate a target. We compute in O(n ³ ) time and O(n ² ) working space the minimum number r ^* of guards needed to sweep an n -vertex polygon. We also give an approximation algorithm, using O(n log n) time and O(n) space, to compute an integer r such that max(r - 16, 2)≤ r ^* ≤ r and P can be swept with a chain of r guards.     

Visibility graphs of staircase polygons and the weak Bruhat order,I: From visibility graphs to maximal chains

The recognition problem for visibility graphs of simple polygons is not known to be in NP, nor is it known to be NP-hard. It is, however, known to be inPSPACE. Further, every such visibility graph can be dismantled as a sequence of visibility graphs of convex fans. Any nondegenerated configuration ofn points can be associated with amaximal chain in the weak Bruhat order of the symmetric groupS _n . The visibility graph ofany simple polygon defined on this configuration is completely determined by this maximal chain via a one-to-one correspondence between maximal chains andbalanced tableaux of a certain shape. In the case of staircase polygons (special convex fans), we define a class of graphs calledpersistent graphs and show that the visibility graph of a staircase polygon is persistent. We then describe a polynomial-time algorithm that recovers a representative maximal chain in the weak Bruhat order from a given persistent graph, thus characterizing the class of persistent graphs. The question of recovering a staircase polygon from a given persistent graph, via a maximal chain, is studied in the companion paper [4]. The overall goal of both papers is to offer a characterization of visibility graphs, of convex fans. The research of J. Abello was supported by NSF Grants Nos. DCR 8603722 and DCR 8896281. This research was done while K. Kumar was at the Department of Computer Science, Texas A & M University.     

Can visibility graphs Be represented compactly?

We consider the problem of representing the visibility graph of line segments as a union of cliques and bipartite cliques. Given a graphG, a familyG={G ₁,G ₂,...,G _k } is called aclique cover ofG if (i) eachG _i is a clique or a bipartite clique, and (ii) the union ofG _i isG. The size of the clique coverG is defined as ∑ _i=1 ^k n _i , wheren _i is the number of vertices inG _i . Our main result is that there are visibility graphs ofn nonintersecting line segments in the plane whose smallest clique cover has size Ω(n ²/log² n). An upper bound ofO(n ²/logn) on the clique cover follows from a well-known result in extremal graph theory. On the other hand, we show that the visibility graph of a simple polygon always admits a clique cover of sizeO(nlog³ n), and that there are simple polygons whose visibility graphs require a clique cover of size Ω(n logn). The work by the first author was supported by National Science Foundation Grant CCR-91-06514. The work by the second author was supported by a USA-Israeli BSF grant. The work by the third author was supported by National Science Foundation Grant CCR-92-11541.     

Lines Avoiding Unit Balls in Three Dimensions

Let B be a set of n unit balls in ℝ³. We show that the combinatorial complexity of the space of lines in ℝ³ that avoid all the balls of B is O(n^3+ε), for any ε > 0. This result has connections to problems in visibility, ray shooting, motion planning, and geometric optimization.     

Raising Roofs,Crashing Cycles,and Playing Pool: Applications of a Data Structure for Finding Pairwise Interactions

The straight skeleton of a polygon is a variant of the medial axis introduced by Aichholzer et al., defined by a shrinking process in which each edge of the polygon moves inward at a fixed rate. We construct the straight skeleton of an n -gon with r reflex vertices in time O(n ^1+ε + n ^8/11+ε r ^9/11+ε ) , for any fixed ε >0 , improving the previous best upper bound of O(nr log n) . Our algorithm simulates the sequence of collisions between edges and vertices during the shrinking process, using a technique of Eppstein for maintaining extrema of binary functions to reduce the problem of finding successive interactions to two dynamic range query problems: (1) maintain a changing set of triangles in R ³ and answer queries asking which triangle is first hit by a query ray, and (2) maintain a changing set of rays in R ³ and answer queries asking for the lowest intersection of any ray with a query triangle. We also exploit a novel characterization of the straight skeleton as a lower envelope of triangles in R ³ . The same time bounds apply to constructing non-self-intersecting offset curves with mitered or beveled corners, and similar methods extend to other problems of simulating collisions and other pairwise interactions among sets of moving objects. Received July 1, 1998, and in revised form March 29, 1999.     

Algorithms for minimum length partitions of polygons

We show that it is possible to find a diagonal partition of anyn-vertex simple polygon into smaller polygons, each of at mostm edges, minimizing the total length of the partitioning diagonals, in timeO(n ³ m ²). We derive the same asymptotic upper time-bound for minimum length diagonal partitions of simple polygons into exactlym-gons provided that the input polygon can be partitioned intom-gons. Also, in the latter case, if the input polygon is convex, we can reduce the upper time-bound toO(n ³ logm).     

Polygon triangulation inO(n log logn) time with simple data structures

We give a newO(n log logn)-time deterministic algorithm for triangulating simplen-vertex polygons, which avoids the use of complicated data structures. In addition, for polygons whose vertices have integer coordinates of polynomially bounded size, the algorithm can be modified to run inO(n log*n) time. The major new techniques employed are the efficient location of horizontal visibility edges that partition the interior of the polygon into regions of approximately equal size, and a linear-time algorithm for obtaining the horizontal visibility partition of a subchain of a polygonal chain, from the horizontal visibility partition of the entire chain. The latter technique has other interesting applications, including a linear-time algorithm to convert a Steiner triangulation of a polygon into a true triangulation.This research was partially supported by the following grants: NSERC 583584, NSERC 580485, ONR-N00014-87-0467, and by DIMACS, an NSF Science and Technology Center (NSF-STC88-09648).     

Largest Placement of One Convex Polygon Inside Another

We show that the largest similar copy of a convex polygon P with m edges inside a convex polygon Q with n edges can be computed in O(mn ² log n) time. We also show that the combinatorial complexity of the space of all similar copies of P inside Q is O(mn ² ) , and that it can also be computed in O(mn ² log n) time. Received December 11, 1995, and in revised form March 3, 1997.     

Finding the Shortest Watchman Route in a Simple Polygon

We present the first polynomial time algorithm that finds the shortest route in a simple polygon such that all points of the polygon are visible from the route. This route is called the shortest watchman route, and we do not assume any restrictions on the route or on the simple polygon. Our algorithm runs in worst case O(n ⁶ ) time, but it is adaptive, making it run faster on polygons with a simple structure. Received December 12, 1997, and in revised form September 30, 1998.     

Visibility queries in a polygonal region

In this paper, we consider the problem of computing the region visible to a query point located in a given polygonal domain. The polygonal domain is specified by a simple polygon with m holes and a total of n vertices. We provide two bounds on the complexity of this problem. One approach constructs a data structure with space complexity O(n²) in time O(n²lgn) and yields a query time of O((1+min(m,|V(q)|))lg²n+m+|V(q)|). Here, V(q) represents the set of vertices of the visibility polygon of a query point q, and |E| denotes the number of edges in the visibility graph. The other approach provides a data structure with space complexity O(min(|E|,mn)+n) in time O(T+|E|+nlgn) with the query time of O(|V(q)|lgn+m). Here, T is the time to triangulate the given polygonal region (which is O(n+mlg¹⁺m) for a small positive constant >0). In both of these approaches, O(m) additive factor in the query time is eliminated with an additional O((min(|E|,mn))²) space and an additional O(m(min(|E|,mn))²) preprocessing time.