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.     

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.     

Almost tight upper bounds for lower envelopes in higher dimensions

We consider the problem of bounding the combinatorial complexity of the lower envelope ofn surfaces or surface patches ind-space (d≥3), all algebraic of constant degree, and bounded by algebraic surfaces of constant degree. We show that the complexity of the lower envelope ofn such surface patches isO(n ^d−1+∈), for any ∈>0; the constant of proportionality depends on ∈, ond, ons, the maximum number of intersections among anyd-tuple of the given surfaces, and on the shape and degree of the surface patches and of their boundaries. This is the first nontrivial general upper bound for this problem, and it almost establishes a long-standing conjecture that the complexity of the envelope isO(n ^d-2λ _q (n)) for some constantq depending on the shape and degree of the surfaces (where λ _q (n) is the maximum length of (n, q) Davenport-Schinzel sequences). We also present a randomized algorithm for computing the envelope in three dimensions, with expected running timeO(n ^2+∈), and give several applications of the new bounds. Work on this paper has been supported by NSF 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.     

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.     

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.     

Vertical decompositions for triangles in 3-space

We prove that, for any constant ɛ>0, the complexity of the vertical decomposition of a set ofn triangles in three-dimensional space isO(n ^2+ɛ +K), whereK is the complexity of the arrangement of the triangles. For a single cell the complexity of the vertical decomposition is shown to beO(n ^2+ɛ ). These bounds are almost tight in the worst case. We also give a deterministic output-sensitive algorithm for computing the vertical decomposition that runs inO(n ² logn+V logn) time, whereV is the complexity of the decomposition. The algorithm is reasonably simple (in particular, it tries to perform as much of the computation in two-dimensional spaces as possible) and thus is a good candidate for efficient implementations. The algorithm is extended to compute the vertical decomposition of arrangements ofn algebraic surface patches of constant maximum degree in three-dimensional space in timeO(nλ _q (n) logn +V logn), whereV is the combinatorial complexity of the vertical decomposition, λ _q (n) is a near-linear function related to Davenport-Schinzel sequences, andq is a constant that depends on the degree of the surface patches and their boundaries. We also present an algorithm with improved running time for the case of triangles which is, however, more complicated than the first algorithm. Mark de Berg was supported by the Dutch Organization for Scientific Research (N.W.O.), and by ESPRIT Basic Research Action No. 7141 (project ALCOM II:Algorithms and Complexity). Leonidas Guibas was supported by NSF Grant CCR-9215219, by a grant from the Stanford SIMA Consortium, by NSF/ARPA Grant IRI-9306544, and by grants from the Digital Equipment, Mitsubishi, and Toshiba Corporations. Dan Halperin was 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. A preliminary version of this paper appeared inProc. 10th ACM Symposium on Computational Geometry, 1994, pp. 1–10.     

Efficient piecewise-linear function approximation using the uniform metric

We given anO(n logn)-time method for finding a bestk-link piecewise-linear function approximating ann-point planar point set using the well-known uniform metric to measure the error, ε≥0, of the approximation. Our methods is based upon new characterizations of such functions, which we exploit to design an efficient algorithm using a plane sweep in “ε space” followed by several applications of the parametric-searching technique. The previous best running time for this problems wasO(n ²). This research was announced in preliminary form at the 10th ACM Symposium on Computational Geometry. The author was partially supported by the NSF and DARPA under Grant CCR-8908092, and by the NSF under Grants IRI-9116843 and CCR-9300079.     

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.     

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.     

A near-linear algorithm for the planar segment-center problem

LetP be a set ofn points in the plane and lete be a segment of fixed length. The segment-center problem is to find a placement ofe (allowing translation and rotation) which minimizes the maximum euclidean distance frome to the points ofP. We present an algorithm that solves the problem in timeO(n ^1+ε), for any ε>0, improving the previous solution of Agarwalet al. [3] by nearly a factor ofO(n). Work on this paper by the second author has been supported by NSF Grants CCR-91-22103 and CCR-93-11127, 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.     

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.     

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.     

Small Hop-diameter Sparse Spanners for Doubling Metrics

Given a metric M=(V,d), a graph G=(V,E) is a t-spanner for M if every pair of nodes in V has a “short” path (i.e., of length at most t times their actual distance) between them in the spanner. Furthermore, this spanner has a hop diameter bounded by D if every pair of nodes has such a short path that also uses at most D edges. We consider the problem of constructing sparse (1+ε)-spanners with small hop diameter for metrics of low doubling dimension. In this paper, we show that given any metric with constant doubling dimension k and any 0<ε<1, one can find (1+ε)-spanner for the metric with nearly linear number of edges (i.e., only O(nlog ^* n+n ε ^−O(k)) edges) and constant hop diameter; we can also obtain a (1+ε)-spanner with linear number of edges (i.e., only n ε ^−O(k) edges) that achieves a hop diameter that grows like the functional inverse of Ackermann’s function. Moreover, we prove that such tradeoffs between the number of edges and the hop diameter are asymptotically optimal. The conference version of the paper appeared in ACM-SIAM SODA 2006. This research of T.-H.H. Chan was done while the author was at Carnegie Mellon University and was partly supported by the NSF grant CCR-0122581 (the ALADDIN project), the NSF CAREER award CCF-0448095, and by an Alfred P. Sloan Fellowship. This research of A. Gupta was partly supported by the NSF grant CCR-0122581 (the ALADDIN project), the NSF CAREER award CCF-0448095, and by an Alfred P. Sloan Fellowship.     

On the zone of a surface in a hyperplane arrangement

LetH be a collection ofn hyperplanes in ^d , letA denote the arrangement ofH, and let be a (d–1)-dimensional algebraic surface of low degree, or the boundary of a convex set in ^d . Thezone of inA is the collection of cells ofA crossed by . We show that the total number of faces bounding the cells of the zone of isO(n ^d–1 logn). More generally, if has dimensionp, 0p<d, this quantity isO(n ^[(d+p)/2]) ford–p even andO(n ^[(d+p)/2] logn) ford–p odd. These bounds are tight within a logarithmic factor.This paper is the union of two conference proceedings papers [3], [15]. Work on this paper by M. Pellegrini and M. Sharir has been supported by NSF Grant CCR-8901484. Work on this paper by M. Sharir has also been supported by ONR Grant N00014-90-J-1284 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. M. Pellegrini's current address is Department of Computing, King's College, Strand, London WC2R 2LS, England.     

The distribution of the root degree of a random permutation

Given a permutation ω of {1, …, n}, let R(ω) be the root degree of ω, i.e. the smallest (prime) integer r such that there is a permutation σ with ω = σ ^r . We show that, for ω chosen uniformly at random, R(ω) = (lnlnn − 3lnlnln n + O ^p (1))⁻¹ lnn, and find the limiting distribution of the remainder term. Research supported in part by NSF grants CCR-0225610, DMS-0505550 and ARO grant W911NF-06-1-0076. Research supported by NSF grant DMS-0406024.     

Robust Shape Fitting via Peeling and Grating Coresets

Let P be a set of n points in ℝ ^d . A subset of P is called a (k,ε)-kernel if for every direction, the directional width of ε-approximates that of P, when k “outliers” can be ignored in that direction. We show that a (k,ε)-kernel of P of size O(k/ε ^(d−1)/2) can be computed in time O(n+k ²/ε ^d−1). The new algorithm works by repeatedly “peeling” away (0,ε)-kernels from the point set. We also present a simple ε-approximation algorithm for fitting various shapes through a set of points with at most k outliers. The algorithm is incremental and works by repeatedly “grating” critical points into a working set, till the working set provides the required approximation. We prove that the size of the working set is independent of n, and thus results in a simple and practical, near-linear ε-approximation algorithm for shape fitting with outliers in low dimensions. We demonstrate the practicality of our algorithms by showing their empirical performance on various inputs and problems. A preliminary version of this paper appeared in Proceedings of the 17th Annual ACM-SIAM Symposium on Discrete Algorithms, pp. 182–191. P.A. and H.Y. are supported by NSF under grants CCR-00-86013, EIA-01-31905, CCR-02-04118, and DEB-04-25465, by ARO grants W911NF-04-1-0278 and DAAD19-03-1-0352, and by a grant from the U.S.–Israel Binational Science Foundation. S.H.-P. is supported by a NSF CAREER award CCR-0132901.     

Quasi-planar graphs have a linear number of edges

A graph is calledquasi-planar if it can be drawn in the plane so that no three of its edges are pairwise crossing. It is shown that the maximum number of edges of a quasi-planar graph withn vertices isO(n).Work on this paper by Pankaj K. Agarwal, Boris Aronov and Micha Sharir has been supported by a grant from the U.S.-Israeli Binational Science Foundation. Work on this paper by Pankaj K. Agarwal has also been supported by NSF Grant CCR-93-01259, by an Army Research Office MURI grant DAAH04-96-1-0013, by an NYI award, and by matching funds from Xerox Corporation. Work on this paper by Boris Aronov has also been supported by NSF Grant CCR-92-11541 and by a Sloan Research Fellowship. Work on this paper by János Pach, Richard Pollack, and Micha Sharir has been supported by NSF Grants CCR-91-22103 and CCR-94-24398. Work by János Pach was also supported by Grant OTKA-4269 and by a CUNY Research Award. Work by Richard Pollack was also supported by NSF Grants CCR-94-02640 and DMS-94-00293. Work by Micha Sharir was also supported by NSF Grant CCR-93-11127, by a Max-Planck Research Award, and by grants from 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. Part of the work on this paper was done during the participation of the first four authors in the Special Semester on Computational and Combinatorial Geometry organized by the Mathematical Research Institute of Tel Aviv University, Spring 1995.     

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.     

The number of elliptic curves over ℚ with conductorNwith conductorN

We prove that the number of elliptic curves E/ℚ with conductorN isO(N ^1/2+ε). More generally, we prove that the number of elliptic curves E/ℚ with good reduction outsideS isO(M ^1/2+ε), whereM is the product of the primes inS. Assuming various standard conjectures, we show that this bound can be improved toO(M ^c/loglogM ). Research partially supported by NSF DMS-9424642.     

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.