Points and triangles in the plane and halving planes in space

We prove that for any setS ofn points in the plane andn ^3−α triangles spanned by the points inS there exists a point (not necessarily inS) contained in at leastn ^3−3α/(c log⁵ n) of the triangles. This implies that any set ofn points in three-dimensional space defines at most halving planes. Work on this paper by Boris Aronov and Rephael Wenger has been supported by DIMACS under NSF Grant STC-88-09648. Work on this paper by Bernard Chazelle has been supported by NSF Grant CCR-87-00917. Work by Herbert Edelsbrunner has been supported by NSF Grant CCR-87-14565. Micha Sharir has been supported by ONR Grant N00014-87-K-0129, by NSF Grant CCR-89-01484, and by grants from the U.S.-Israeli Binational Science Foundation, the Israeli National Council for Research and Development, and the Fund for Basic Research administered by the Israeli Academy of Sciences.     

Diameter,width, closest line pair,and parametric searching

We apply Megiddo's parametric searching technique to several geometric optimization problems and derive significantly improved solutions for them. We obtain, for any fixed ε>0, anO(n ^1+ε) algorithm for computing the diameter of a point set in 3-space, anO(^8/5+ε) algorithm for computing the width of such a set, and onO(n ^8/5+ε) algorithm for computing the closest pair in a set ofn lines in space. All these algorithms are deterministic. Work by Bernard Chazelle was supported by NSF Grant CCR-90-02352. Work by Herbert Edelsbrunner was supported by NSF Grant CCR-89-21421. Work by Leonidas Guibas and Micha Sharir was supported by a grant from the U.S.-Israeli Binational Science Foundation. Work by Micha Sharir was also supported by ONR Grant N00014-90-J-1284, by NSF Grant CCR-89-01484, and by grants from the Fund for Basic Research administered by the Israeli Academy of Sciences, and the G.I.F., the German-Israeli Foundation for Scientific Research and Development.     

A near-quadratic algorithm for planning the motion of a polygon in a polygonal environment

We consider the problem of planning the motion of an arbitraryk-sided polygonal robotB, free to translate and rotate in a polygonal environmentV bounded byn edges. We present an algorithm that constructs a single component of the free configuration space ofB in timeO((kn) ^2+ɛ), for any ɛ>0. This algorithm, combined with some standard techniques in motion planning, yields a solution to the underlying motion-planning problem, within the same running time. Work on this paper by Dan Halperin has been supported by a Rothschild Postdoctoral Fellowship, by a grant from the Stanford Integrated Manufacturing Association (SIMA), by NSF/ARPA Grant IRI-9306544, and by NSF Grant CCR-9215219. Work on this paper by Micha Sharir has been supported by NSF Grants CCR-91-22103 and CCR-93-11127, by a Max-Planck Research Award, and by grants from the U.S.-Israeli Binational Science Foundation, the Israel Science Fund administered by the Israeli Academy of Sciences, and the G.I.F., the German-Israeli Foundation for Scientific Research and Development. A preliminary and extended version of the paper has appeared as: D. Halperin and M. Sharir, Near-quadratic bounds for the motion planning problem for a polygon in a polygonal environment,Proc. 34th IEEE Symp. on Foundations of Computer Science, 1993, pp. 382–391. Part of the work on the paper was carried out while Dan Halperin was at Tel Aviv University.     

Improved bounds on weak ε-nets for convex sets

LetS be a set ofn points in ℝ ^d . A setW is aweak ε-net for (convex ranges of)S if, for anyT⊆S containing εn points, the convex hull ofT intersectsW. We show the existence of weak ε-nets of size , whereβ ₂=0,β ₃=1, andβ _d ≈0.149·2 ^d-1(d-1)!, improving a previous bound of Alonet al. Such a net can be computed effectively. We also consider two special cases: whenS is a planar point set in convex position, we prove the existence of a net of sizeO((1/ε) log^1.6(1/ε)). In the case whereS consists of the vertices of a regular polygon, we use an argument from hyperbolic geometry to exhibit an optimal net of sizeO(1/ε), which improves a previous bound of Capoyleas. Work by Bernard Chazelle has been supported by NSF Grant CCR-90-02352 and the Geometry Center. Work by Herbert Edelsbrunner has been supported by NSF Grant CCR-89-21421. Work by Michelangelo Grigni has been supported by NSERC Operating Grants and NSF Grant DMS-9206251. Work by Leonidas Guibas and Micha Sharir has been supported by a grant from the U.S.-Israeli Binational Science Foundation. Work by Emo Welzl and Micha Sharir has been supported by a grant from the G.I.F., the German-Israeli Foundation for Scientific Research and Development. Work by Micha Sharir has also been supported by NSF Grant CCR-91-22103, and by a grant from the Fund for Basic Research administered by the Israeli Academy of Sciences.     

Topological Graphs with No Large Grids

Let G be a topological graph with n vertices, i.e., a graph drawn in the plane with edges drawn as simple Jordan curves. It is shown that, for any constants k,l, there exists another constant C(k,l), such that if G has at least C(k,l)n edges, then it contains a k×l-gridlike configuration, that is, it contains k+l edges such that each of the first k edges crosses each of the last l edges. Moreover, one can require the first k edges to be incident to the same vertex. Received: April, 2003 Janos Pach and Micha Sharir has been supported by NSF Grants CCR-97-32101 and CCR-00-98246, and by a joint grant from the U.S.–Israel Binational Science Foundation. János Pach has also been supported by PSC-CUNY Research Award 63382-0032 and by OTKA T-032452. Micha Sharir has also been supported by a grant from the Israeli Academy of Sciences for a Center of Excellence in Geometric Computing at Tel Aviv University, and by the Hermann Minkowski–MINERVA Center for Geometry at Tel Aviv University. Géza Tóth has been supported by OTKA-T-038397 and by an award from the New York University Research Challenge Fund.     

On the number of views of polyhedral terrains

We show that the number of topologically different orthographic views of a polyhedral terrain withn edges isO(n ^5+ɛ ), and that the number of topologically different perspective views of such a terrain isO(n ^8+ɛ ), for any ɛ>0. Both bounds are almost tight in the worst case. The proofs are simple consequences of the recent almost-tight bounds of [11] on the complexity of lower envelopes in higher dimensions. Pankaj Agarwal has been supported by National Science Foundation Grant CCR-91-06514. Micha Sharir has been supported by National Science Foundation Grant CCR-91-22103, and by grants from the U.S.—Israeli Binational Science Foundation, the G.I.F.—the German Israeli Foundation for Scientific Research and Development- and the Fund for Basic Research administered by the Israeli Academy of Sciences.     

An elementary approach to lower bounds in geometric discrepancy

For eachd≥2, it is possible to placen points ind-space so that, given any two-coloring of the points, a half-space exists within which one color outnumbers the other by as much ascn ^1/2−1/2d , for some constantc>0 depending ond. This result was proven in a slightly weaker form by Beck and the bound was later tightened by Alexander. It was recently shown to be asymptotically optimal by Matoušek. We present a proof of the lower bound, which is based on Alexander's technique but is technically simpler and more accessible. We present three variants of the proof, for three diffrent cases, to provide more intuitive insight into the “large-discrepancy” phenomenon. We also give geometric and probabilistic interpretations of the technique. Work by Bernard Chazelle has been supported in part by NSF Grant CCR-90-02352 and The Geometry Center, University of Minnesota, an STC funded by NSF, DOE, and Minnesota Technology, Inc. Work by Jiří Matoušek has been supported by Charles University Grant No. 351, by Czech Republic Grant GAČR 201/93/2167 and in part by DIMACS. Work by Micha Sharir has been supported by NSF Grant CCR-91-22103, by a Max-Planck Research Award, and by grants from the U.S.-Israeli Binational Science Foundation, the Fund for Basic Research administered by the Israeli Academy of Sciences, and the G.I.F., the German-Israeli Foundation for Scientific Research and Development.     

Vertical decomposition of arrangements of hyperplanes in four dimensions

We show that, for any collection ℋ ofn hyperplanes in ℜ⁴, the combinatorial complexity of thevertical decomposition of the arrangementA(ℋ) of ℋ isO(n ⁴ logn). The proof relies on properties of superimposed convex subdivisions of 3-space, and we also derive some other results concerning them. Work on this paper by Leonidas Guibas and Micha Sharir has been supported by a grant from the U.S.-Israeli Binational Science Foundation. Work by Leonidas Guibas was also supported by National Science Foundation Grant CCR-9215219. Work by Micha Sharir was also supported by National Science Foundation Grant CCR-91-22103, and by grants from the G.I.F.—the German Isreali Foundation for Scientific Research and Development, and the Fund for Basic Research administered by the Israeli Academy of Sciences. Work by Jiří Matouŝek was done while he was visiting Tel Aviv University, and its was partially supported by a Humboldt Research Fellowship. Work on this paper by Dan Halperin was carried out while he was at Tel Aviv University.     

Path problems in skew-symmetric graphs

We study path problems in skew-symmetric graphs. These problems generalize the standard graph reachability and shortest path problems. We establish combinatorial solvability criteria and duality relations for the skew-symmetric path problems and use them to design efficient algorithms for these problems. The algorithms presented are competitive with the fastest algorithms for the standard problems.This research was done while the first author was at Stanford University Computer Science Department, supported in part by ONR Office of Naval Research Young Investigator Award N00014-91-J-1855, NSF Presidential Young Investigator Grant CCR-8858097 with matching funds from AT&T, DEC, and 3M, and a grant from Powell Foundation.This research was done while the second author was visiting Stanford University Computer Science Department and supported by the above mentioned NSF and Powell Foundation Grants.     

Applications of a new space-partitioning technique

We present several applications of a recent space-partitioning technique of Chazelle, Sharir, and Welzl (Proceedings of the 6th Annual ACM Symposium on Computational Geometry, 1990, pp. 23–33). Our results include efficient algorithms for output-sensitive hidden surface removal, for ray shooting in two and three dimensions, and for constructing spanning trees with low stabbing number.Work on this paper has been supported by DIMACS, an NSF Science and Technology Center, under Grant STC-88-09684. The second author has been supported by Office of Naval Research Grants N00014-89-J-3042 and N00014-90-J-1284, by National Science Foundation Grant CCR-89-01484, and by grants from the U.S.-Israeli Binational Science Foundation, the Fund for Basic Research administered by the Israeli Academy of Sciences, and the G.I.F., the German-Israeli Foundation for Scientific Research and Development.     

Holey self-orthogonal Latin squares with symmetric orthogonal mates

We improve the existence results for holey self-orthogonal Latin squares with symmetric orthogonal mates (HSOLSSOMs) and show that the necessary conditions for the existence of a HSOLSSOM of typeh ⁿ are also sufficient with at most 28 pairs (h, n) of possible exceptions. Research supported in part by NSERC Grant A-5320 for the first author, NSF Grants CCR-9504205 and CCR-9357851 for the second author, and NSFC Grant 19231060-2 for the third author.     

Isoperimetric Invariants For Product Markov Chains and Graph Products

Bounds on some isoperimetric constants of the Cartesian product of Markov chains are obtained in terms of related isoperimetric quantities of the individual chains.* Research supported in part by NSF Grants. Research supported by NSF Grant No. CCR-9503952 and DMS-9800351.     

An optimal lower bound on the number of variables for graph identification

In this paper we show that (n) variables are needed for first-order logic with counting to identify graphs onn vertices. Thek-variable language with counting is equivalent to the (k–1)-dimensional Weisfeiler-Lehman method. We thus settle a long-standing open problem. Previously it was an open question whether or not 4 variables suffice. Our lower bound remains true over a set of graphs of color class size 4. This contrasts sharply with the fact that 3 variables suffice to identify all graphs of color class size 3, and 2 variables suffice to identify almost all graphs. Our lower bound is optimal up to multiplication by a constant becausen variables obviously suffice to identify graphs onn vertices.Research supported by NSF grant CCR-8709818.Research supported by NSF grant CCR-8805978 and Pennsylvania State University Research Initiation grant 428-45.Research supported by NSF grants DCR-8603346 and CCR-8806308.     

Triangles in space or building (and analyzing) castles in the air

We show that the total combinatorial complexity of all non-convex cells in an arrangement ofn (possibly intersecting) triangles in 3-space isO(n ^7/3 logn) and that this bound is almost tight in the worst case. Our bound significantly improves a previous nearly cubic bound of Pach and Sharir. We also present a (nearly) worst-case optimal randomized algorithm for calculating a single cell of the arrangement and an alternative less efficient, but still subcubic algorithm for calculating all non-convex cells, analyze some special cases of the problem where improved bounds (and faster algorithms) can be obtained, and describe applications of our results to translational motion planning for polyhedra in 3-space.Work on this paper by the first author has been supported by an AT&T Bell Laboratories PhD Scholarship. Work on this paper by the second author has been supported by Office of Naval Research Grant N00014-87-K-0129, by National Science Foundation Grant No. NSF-DCR-83-20085, by grants from the Digital Equipment Corporation, the IBM Corporation, and by a research grant from the NCRD — the Israeli National Council for Research and Development. A preliminary version of this paper has appeared inProc. 4th ACM Symp. on Computational Geometry, Urbana, Illinois, 1988.     

Castles in the air revisited

We show that the total number of faces bounding any one cell in an arrangement ofn (d−1)-simplices in ℝ ^d isO(n ^d−1 logn), thus almost settling a conjecture of Pach and Sharir. We present several applications of this result, mainly to translational motion planning in polyhedral environments. We than extend our analysis to derive other results on complexity in arrangements of simplices. For example, we show that in such an arrangement the total number of vertices incident to the same cell on more than one “side” isO(n ^d−1 logn). We, also show that the number of repetitions of a “k-flap,” formed by intersectingd−k given simplices, along the boundary of the same cell, summed over all cells and allk-flaps, isO(n ^d−1 log² n). We use this quantity, which we call theexcess of the arrangement, to derive bounds on the complexity ofm distinct cells of such an arrangement. Work on this paper by the first author has been partially supported by National Science Foundation Grant CCR-92-11541. Work on this paper by the second author has been supported by Office of Naval Research Grant N00014-90-J-1284, by National Science Foundation Grants CCR-89-01484 and CCR-91-22103, and by grants from the U.S.-Israeli Binational Science Foundation, the G.I.F.—the German-Israeli Foundation for Scientific Reseach and Development, and the Fund for Basic Research administered by the Israeli Academy of Sciences.     

The number of edges of many faces in a line segment arrangement

We show that the maximum number of edges boundingm faces in an arrangement ofn line segments in the plane isO(m ^2/3 n ^2/3+n(n)+nlogm). This improves a previous upper bound of Edelsbrunner et al. [5] and almost matches the best known lower bound which is (m ^2/3 n ^2/3+n(n)). In addition, we show that the number of edges bounding anym faces in an arrangement ofn line segments with a total oft intersecting pairs isO(m ^2/3 t ^1/3+n(t/n)+nmin{logm,logt/n}), almost matching the lower bound of (m ^2/3 t ^1/3+n(t/n)) demonstrated in this paper.Work on this paper by the first and fourth authors has been partially supported by Office of Naval Research Grant N00014-87-K-0129, by National Science Foundation Grants DCR-83-20085 and CCR-89-01484. Work by the first author has also been supported by an AT&T Bell Laboratories Ph.D. scholarship at New York University and by DIMACS (Center for Discrete Mathematics and Theoretical Computer Science), a National Science Foundation Science and Technology Center (NSF-STC88-09648). Work by the second author has been supported by NSF under Grants CCR-87-14565 and CCR-89-21421. Work by the fourth author has additionally been supported by grants from the U.S.-Israeli Binational Science Foundation, the NCRD (the Israeli National Council for Research and Development) and the Fund for Basic Research in Electronics, Computers and Communication, administered by the Israeli National Academy of Sciences.     

On critical orientations in the kedem-sharir motion planning algorithm

We discuss a technical problem arising in the motion planning algorithm of Kedem and Sharir [KS], and propose a way to overcome it without increasing the asymptotic complexity of the algorithm The first author was supported by the Eshkol Grant 04601-90 from the Israeli Ministry of Science and Technology. The second author was partly supported by the Fund for Basic Research administered by the Israeli Academy of Sciences, by National Science Foundation Grants CCR-91-22103 and CCR-93-11127, and by grants from the U.S.-Israeli Binational Science Foundation, and the G.I.F., the German-Israeli Foundation for Scientific Research and Development. The third author was partly supported by the Interdisciplinary Program at Tel-Aviv University. The third author’s current address is: Department of Computer Science, MIT, Boston, MA, USA.     

On Overlays and Minimization Diagrams

The overlay of 2≤m≤d minimization diagrams of n surfaces in ℝ ^d is isomorphic to a substructure of a suitably constructed minimization diagram of mn surfaces in ℝ ^d+m−1. This elementary observation leads to a new bound on the complexity of the overlay of minimization diagrams of collections of d-variate semi-algebraic surfaces, a tight bound on the complexity of the overlay of minimization diagrams of collections of hyperplanes, and faster algorithms for constructing such overlays. Further algorithmic implications are discussed. Work by V. Koltun was supported by NSF CAREER award CCF-0641402. Work by M. Sharir was supported by NSF Grants CCR-00-98246 and CCF-05-14079, by a grant from the Israeli Academy of Sciences for a Center of Excellence in Geometric Computing at Tel Aviv University, and by the Hermann Minkowski Minerva Center for Geometry at Tel Aviv University.     

k-sets and random hulls

We re-examine the probabilistic analysis of Clarkson and Shor [5] involvingk-sets of point sets and related structures. By studying more carefully the equations that they derive, we are able to obtain refined analysis of these quantities, which lead to a collection of interesting relationships involvingk-sets, convex hulls of random samples, and generalizations of these constructs.Work on this paper has been supported by Office of Naval Research Grant N00014-89-J-3042 and N00014-90-J-1284, by National Science Foundation Grant CCR-89-01484, and by grants from the U.S.-Israeli Binational Science Foundation, the Fund for Basic Research administered by the Israeli Academy of Sciences, and the G.I.F., the German-Israeli Foundation for Scientific Research and Development.     

Arrangements of segments that share endpoints: Single face results

We provide new combinatorial bounds on the complexity of a face in an arrangement of segments in the plane. In particular, we show that the complexity of a single face in an arrangement ofn line segments determined byh endpoints isO(h logh). While the previous upper bound,O(nα(n)), is tight for segments with distinct endpoints, it is far from being optimal whenn=Ω(h ²). Our results show that, in a sense, the fundamental combinatorial complexity of a face arises not as a result of the number ofsegments, but rather as a result of the number ofendpoints. The research of E. M. Arkin was partially supported by NSF Grants ECSE-8857642 and CCR-9204585. K. Kedem's research was partially supported by AFOSR Grant AFOSR-91-0328. The research of J. S. B. Mitchell was partially supported by a grant from Boeing Computer Services, Hughes Research Laboratories, AFOSR Grant AFOSR-91-0328, and by NSF Grants ECSE-8857642 and CCR-9204585.