New results on shortest paths in three dimensions

Joseph S.B. Mitchell; Micha Sharir

doi:10.1145/997817.997839

New results on shortest paths in three dimensions

Joseph S.B. Mitchell^*, Micha Sharir

^*Corresponding author for this work

School of Computer Science

Research output: Contribution to conference › Paper › peer-review

Abstract

We revisit the problem of computing shortest obstacle-avoiding paths among obstacles in three dimensions. We prove new hardness results, showing, e.g., that computing Euclidean shortest paths among sets of "stacked" axis-aligned rectangles is NP-complete, and that computing L ₁-shortest paths among disjoint balls is NP-complete. On the positive side, we present an efficient algorithm for computing an L ₁shortest path between two given points that lies on or above a given polyhedral terrain. We also give polynomial-time algorithms for some versions of stacked polygonal obstacles that are "terrain-like" and analyze the complexity of shortest path maps in the presence of parallel halfplane "walls".

Original language	English
Pages	124-133
Number of pages	10
DOIs	https://doi.org/10.1145/997817.997839
State	Published - 2004
Event	Proceedings of the Twentieth Annual Symposium on Computational Geometry (SCG'04) - Brooklyn, NY, United States Duration: 9 Jun 2004 → 11 Jun 2004

Conference

Conference	Proceedings of the Twentieth Annual Symposium on Computational Geometry (SCG'04)
Country/Territory	United States
City	Brooklyn, NY
Period	9/06/04 → 11/06/04

Keywords

Motion planning
NP-hardness
Shortest path
Terrain

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10.1145/997817.997839

Cite this

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title = "New results on shortest paths in three dimensions",

abstract = "We revisit the problem of computing shortest obstacle-avoiding paths among obstacles in three dimensions. We prove new hardness results, showing, e.g., that computing Euclidean shortest paths among sets of {"}stacked{"} axis-aligned rectangles is NP-complete, and that computing L 1-shortest paths among disjoint balls is NP-complete. On the positive side, we present an efficient algorithm for computing an L 1shortest path between two given points that lies on or above a given polyhedral terrain. We also give polynomial-time algorithms for some versions of stacked polygonal obstacles that are {"}terrain-like{"} and analyze the complexity of shortest path maps in the presence of parallel halfplane {"}walls{"}.",

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year = "2004",

doi = "10.1145/997817.997839",

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AU - Mitchell, Joseph S.B.

AU - Sharir, Micha

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N2 - We revisit the problem of computing shortest obstacle-avoiding paths among obstacles in three dimensions. We prove new hardness results, showing, e.g., that computing Euclidean shortest paths among sets of "stacked" axis-aligned rectangles is NP-complete, and that computing L 1-shortest paths among disjoint balls is NP-complete. On the positive side, we present an efficient algorithm for computing an L 1shortest path between two given points that lies on or above a given polyhedral terrain. We also give polynomial-time algorithms for some versions of stacked polygonal obstacles that are "terrain-like" and analyze the complexity of shortest path maps in the presence of parallel halfplane "walls".

AB - We revisit the problem of computing shortest obstacle-avoiding paths among obstacles in three dimensions. We prove new hardness results, showing, e.g., that computing Euclidean shortest paths among sets of "stacked" axis-aligned rectangles is NP-complete, and that computing L 1-shortest paths among disjoint balls is NP-complete. On the positive side, we present an efficient algorithm for computing an L 1shortest path between two given points that lies on or above a given polyhedral terrain. We also give polynomial-time algorithms for some versions of stacked polygonal obstacles that are "terrain-like" and analyze the complexity of shortest path maps in the presence of parallel halfplane "walls".

KW - Motion planning

KW - NP-hardness

KW - Shortest path

KW - Terrain

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ER -

New results on shortest paths in three dimensions

Abstract

Conference

Keywords

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