Computational geometry: Schedule and links

Some useful links:

Online access to O'Rourke Computational Geometry in C for Bowdoin students via Bowdoin library
David Mount's computational geometry lecture notes and problem sets

Here is a detailed schedule of the class, to be updated as the semester progresses:

Jan 24

Topics: Introduction and setup.
Notes:
- Class introduction: intro.pdf [6up]
- Lab: Basic Unix commands (connecting to dover, directory navigation, file manipulation, pipes, processes, redirection)
- Lab: Hello World from the terminal
Other useful materials:
- Sean's unix tutorial | Emacs and vim | C 101

Jan 26

Jan 31

Topics: Geometric primitives (area of a triangle, collinear, left-of, segment intersection).
Notes:
Reading: OR 1.3-1.5

Febr 2, 6, 9

Topics: Convex hulls in 2D: Properties, algorithms (gift wrapping, Quickhull, Graham scan, Andrew's monotone chain, incremental, divide-and-conquer) and lower bound.
Notes: convexhull (I) [6up] | CH-class work | convexhull (II) [6up]
Programming assignment 1: CH with Graham scan (due Thu 2/9)
Reading: OR 3.5, 3.6, 3.7, 3.8
Internet sites I found useful:
- Youtube Convex hull lecture of Bob Sedgewick (Princeton)
- slides from Mark von Kreveld's CG class at Utrecht University
- Notes on CH from MIT
- Notes by Dan Sunday at geomalgs, includes nice description of Andrew's monotone chain algorithm and also code
- Notes by Patrick Prosser, Glasgow U
- CH applets: Brute force and quick hull | Graham scan (from Princeton)
- 3D convex hull: video | CGAL 3d CH

Febr 16

Topics: Convex hulls in 3D (gift wrapping, incremental, divide-and-conquer).
Notes: hull3d [6up] | 3D CH class-work
Programming assignment 2: First shot at hull 3d (due Thu 2/23)

Febr 21

Febr 23, 28

Topics: The line-sweep technique. Orthogonal line segment intersection. Bentley-Ottman sweep.
Notes: orthogonal [6up] | bentley-ottman [6up] | BO-classwork
Programming assignment 3: Chose one of gift wrapping 3d or orthogonal segment intersection (due Thu 3/2)
Internet sites I found useful:
- slides from CG class of Mark von Kreveld, Utrecht
- notes (by Michiel Smid)

March 2, 8

Topics: 2D space partition data structures (grids, kd-trees) ) and 2D (range) searching.
Notes: grids-and-kdtrees [6up] | kdtrees-classwork
Programming assignment 4: kd-trees (~~part 1 due Fri 3/11~~, part 1,2 due Tue 3/28)
Internet sites I found useful:
- slides from CG class of Mark van Kreleved, Utrecht
- Demos: from U Maryland | from H. Akcan | JavaGeom

!!SPRING BREAK!!

March 28

March 30, April 4

Topics:Art gallery problems. Definition and properties. Fisk's sufficiency proof. Point-in-polygon test and ray crossings.
Notes: art-gallery [6up]
Programming assignment 5: Fun in an art gallery (aim for part 1 on Thu 4/6, part 2 on Thu 4/13)
Reading: OR chapter 1 (art gallery), chapter 7.4 (ray crossings).
Internet links that I found useful:
- Joe and Simpson's O(n) visibility polygon | Efficient computation of visibility polygons (2014)
- sight-and-light | Field of view and los in 2d | 2d visibility
- Notes from UCSB (Subhash Suri)
- Slides from CG class of Mark von Kreveld, Utrecht.

April 6, 11, 13

Topics:Polygon triangulation: Properties. Polygon triangulation in quadratic time via ear removal. An O(n lg n) triangulation algorithm via trapezoidalization and partition into monotone mountains.
Notes: polygonTriangulation(I) | polygonTriangulation [6up ]
Reading: OR chapter 2
Internet links that I found useful:
- Notes from Stanford: Triangulating simple polygons
- Slides from CG class of Mark von Kreveld, Utrecht.
- Notes by Robert Pless, WUSTL
- Part I | Part II by Misha Kazhdan at JHU

April 18

Topics: Intersection of halfplanes. Intersection of convex polygons. Computing kernels of polygons.
Notes: convex intersection [6up]
Programming assignment 6: Combinatorial motion planning with VG (due Thu April 27th)
Reading:
Internet links I found useful:

April 20

April 22

Topics: Voronoi diagrams.
Slides/Notes: Voronoi | slides [6up] | voronoi-classwork
Reading: OR chapter 5
Internet links I found useful:
- slides from CG class of Mark van Kreleved, Utrecht
- Scott Snibbe and Boundary functions | Boundary functions on youtube

April 27

Topics: Delaunay triangulations.
Slides/Notes: Delaunay | slides [6up]
Assignment:
Reading: OR 5
Internet links I found useful: slides from CG class of Mark van Kreleved, Utrecht

May 2

Topics: Combinatorial motion planning.
Notes/slides: motionplanning I
Programming assignment 7: Approximate motion planning (preliminary version due Tue May 9th, final version due May xx)
Reading: OR 8
Internet links I found useful:
- Steven LaValle book Planning algorithms | Chapter 6 (Combinatorial motion planning)

May 4, 9

Topics: Approximate motion planning.
Notes/slides: : motionplanning II
Internet links I found useful:
- Papers
  - Steven LaValle book Planning algorithms | Chapter 5 (Sampling-based motion planning)
  - A survey of motion planning and control techniques for self-driving urban vehicles by Paden, Cap, Yong, Yershov and Fraziolli, 2016.
  - Search-based planner: Incremental ARA*: An incremental anytime search algorithm for moving-targer search by Sun, Uras, Koenig and Yeoh, 2012
  - RRT planner: RRT-Connect: An efficient approach to single-query path planning by Kuffner and LaValle | wiki page
  - PRM planner: Probabilistic roadmaps for path planning in high dimensional configuration spaces by Kavraki, Svestka, Latombe and Overmars | A comparative study of probabilistic roadmap planners by Geraertz and Overmars
- Misc
  - Nice visualization of search algorithms
  - Darpa grand challenge 2007
  - CMU Planning techniques spring 2017 by Maxim Likhachev
  - Some people/groups: CMU Boss | USC Koenig | Stanford Latombe | UNC GAMMA group (Dinesh Manocha) | UIUC LaValle | ...
  - Code: Motion strategy library | MPK Motion planning kit

Last modified: Fri May 19 11:25:41 EDT 2017