We present a $O(n^{\frac{3}{2}})$-time algorithm for the \emph{shortest (diagonal) flip path problem} for \emph{lattice} triangulations with $n$ points, improving over previous $O(n^2)$-time algorithms. For a large, natural class of inputs, our bound is tight in the sense that our algorithm runs in time linear in the number of flips in the output flip path. Our results rely on an independently interesting structural elucidation of shortest flip paths as the linear orderings of a unique partially ordered set, called a \emph{minimum flip plan}, constructed by a novel use of Farey sequences from elementary number theory. Flip paths between general (not necessarily lattice) triangulations have been studied in the combinatorial setting for nearly a century. In the Euclidean geometric setting, finding a shortest flip path between two triangulations is NP-complete. However, for lattice triangulations, which are studied as spin systems, there are known $O\left(n^2\right)$-time algorithms to find shortest flip paths. These algorithms, as well as ours, apply to \emph{constrained} flip paths that ensure a set of \emph{constraint} edges are present in every triangulation along the path. Implications for determining simultaneously flippable edges, i.e. finding optimal simultaneous flip paths between lattice triangulations, and for counting lattice triangulations are discussed.
For both triangulations of point sets and simple polygons, it is known that determining the flip distance between two triangulations is an NP-hard problem. To gain more insight into flips of triangulations and to characterize "where edges go" when flipping from one triangulation to another, flips in edge-labeled triangulations have lately attracted considerable interest. In a recent breakthrough, Lubiw, Masárová, and Wagner (in Proc. 33rd Symp. of Computational Geometry, 2017) prove the so-called "Orbit Conjecture" for edge-labeled triangulations and ask for the complexity of the flip distance…
Let T be a triangulation of a simple polygon. A flip in T is the operation of removing one diagonal of T and adding a different one such that the resulting graph is again a triangulation. The flip distance between two triangulations is the smallest number of flips required to transform one triangulation into the other. For the special case of convex polygons, the problem of determining the shortest flip distance between two triangulations is equivalent to determining the rotation distance between two binary trees, a central problem which is still open after over 25 years of intensive study. We…
The flip graph for a set $P$ of points in the plane has a vertex for every triangulation of $P$, and an edge when two triangulations differ by one flip that replaces one triangulation edge by another. The flip graph is known to have some connectivity properties: (1) the flip graph is connected; (2) connectivity still holds when restricted to triangulations containing some constrained edges between the points; (3) for $P$ in general position of size $n$, the flip graph is $\lceil \frac{n}{2} -2 \rceil$-connected, a recent result of Wagner and Welzl (SODA 2020). We introduce the study of connect…
We consider geometric triangulations of surfaces, i.e., triangulations whose edges can be realized by disjoint locally geodesic segments. We prove that the flip graph of geometric triangulations with fixed vertices of a flat torus or a closed hyperbolic surface is connected. We give upper bounds on the number of edge flips that are necessary to transform any geometric triangulation on such a surface into a Delaunay triangulation.
Given two triangulations of a convex polygon, computing the minimum number of flips required to transform one to the other is a long-standing open problem. It is not known whether the problem is in P or NP-complete. We prove that two natural generalizations of the problem are NP-complete, namely computing the minimum number of flips between two triangulations of (1) a polygon with holes; (2) a set of points in the plane.
Simultaneous diagonal flips in plane triangulations are investigated. It is proved that every $n$-vertex triangulation with at least six vertices has a simultaneous flip into a 4-connected triangulation, and that it can be computed in O(n) time. It follows that every triangulation has a simultaneous flip into a Hamiltonian triangulation. This result is used to prove that for any two $n$-vertex triangulations, there exists a sequence of $O(\log n)$ simultaneous flips to transform one into the other. The total number of edges flipped in this sequence is O(n). The maximum size of a simultaneous f…
Delaunay flip is an elegant, simple tool to convert a triangulation of a point set to its Delaunay triangulation. The technique has been researched extensively for full dimensional triangulations of point sets. However, an important case of triangulations which are not full dimensional is surface triangulations in three dimensions. In this paper we address the question of converting a surface triangulation to a subcomplex of the Delaunay triangulation with edge flips. We show that the surface triangulations which closely approximate a smooth surface with uniform density can be transformed to a…
Given two combinatorial triangulations, how many edge flips are necessary and sufficient to convert one into the other? This question has occupied researchers for over 75 years. We provide a comprehensive survey, including full proofs, of the various attempts to answer it.
We show that every triangulation (maximal planar graph) on $n\ge 6$ vertices can be flipped into a Hamiltonian triangulation using a sequence of less than $n/2$ combinatorial edge flips. The previously best upper bound uses $4$-connectivity as a means to establish Hamiltonicity. But in general about $3n/5$ flips are necessary to reach a $4$-connected triangulation. Our result improves the upper bound on the diameter of the flip graph of combinatorial triangulations on $n$ vertices from $5.2n-33.6$ to $5n-23$. We also show that for every triangulation on $n$ vertices there is a simultaneous fli…
We show that any combinatorial triangulation on n vertices can be transformed into a 4-connected one using at most floor((3n - 9)/5) edge flips. We also give an example of an infinite family of triangulations that requires this many flips to be made 4-connected, showing that our bound is tight. In addition, for n >= 19, we improve the upper bound on the number of flips required to transform any 4-connected triangulation into the canonical triangulation (the triangulation with two dominant vertices), matching the known lower bound of 2n - 15. Our results imply a new upper bound on the diameter …
We show that $O(n^2)$ exchanging flips suffice to transform any edge-labelled pointed pseudo-triangulation into any other with the same set of labels. By using insertion, deletion and exchanging flips, we can transform any edge-labelled pseudo-triangulation into any other with $O(n \log c + h \log h)$ flips, where $c$ is the number of convex layers and $h$ is the number of points on the convex hull.
In this work we consider triangulations of point sets in the Euclidean plane, i.e., maximal straight-line crossing-free graphs on a finite set of points. Given a triangulation of a point set, an edge flip is the operation of removing one edge and adding another one, such that the resulting graph is again a triangulation. Flips are a major way of locally transforming triangular meshes. We show that, given a point set $S$ in the Euclidean plane and two triangulations $T_1$ and $T_2$ of $S$, it is an APX-hard problem to minimize the number of edge flips to transform $T_1$ to $T_2$.
In this paper we consider the flip operation for combinatorial pointed pseudo-triangulations where faces have size 3 or 4, so-called combinatorial 4-PPTs. We show that every combinatorial 4-PPT is stretchable to a geometric pseudo-triangulation, which in general is not the case if faces may have size larger than 4. Moreover, we prove that the flip graph of combinatorial 4-PPTs is connected and has diameter $O(n^2)$, even in the case of labeled vertices with fixed outer face. For this case we provide an $Ω(n\log n)$ lower bound.
Given a finite point set P in general position in the plane, a full triangulation is a maximal straight-line embedded plane graph on P. A partial triangulation is a full triangulation of some subset P' of P containing all extreme points in P. A bistellar flip on a partial triangulation flips an edge (an edge flip), removes a non-extreme point of degree 3, or adds a point in P \ P' as vertex of degree 3. The bistellar flip graph has all partial triangulations as vertices, and a pair of partial triangulations is adjacent if they can be obtained from one another by a bistellar flip. The edge flip…
Flips in triangulations have received a lot of attention over the past decades. However, the problem of tracking where particular edges go during the flipping process has not been addressed. We examine this question by attaching unique labels to the triangulation edges. We introduce the concept of the orbit of an edge $e$, which is the set of all edges reachable from $e$ via flips. We establish the first upper and lower bounds on the diameter of the flip graph in this setting. Specifically, we prove tight $Θ(n \log n)$ bounds for edge-labelled triangulations of $n$-vertex convex polygons and c…
The development of laser scanning techniques has popularized the representation of 3D shapes by triangular meshes with a large number of vertices. Compression techniques dedicated to such meshes have emerged, which exploit the idea that the connectivity of a dense mesh does not deviate much from the connectivity that can be constructed automatically from the vertex positions (while possibly being guided by additional codes). The edge flip is one of the tools that can encode the differences between two meshes, and it is important to control the length of a sequence of flips that transform one t…
Given a triangulation of a point set in the plane, a \emph{flip} deletes an edge $e$ whose removal leaves a convex quadrilateral, and replaces $e$ by the opposite diagonal of the quadrilateral. It is well known that any triangulation of a point set can be reconfigured to any other triangulation by some sequence of flips. We explore this question in the setting where each edge of a triangulation has a label, and a flip transfers the label of the removed edge to the new edge. It is not true that every labelled triangulation of a point set can be reconfigured to every other labelled triangulation…
The flip graph of triangulations has as vertices all triangulations of a convex $n$-gon, and an edge between any two triangulations that differ in exactly one edge. An $r$-rainbow cycle in this graph is a cycle in which every inner edge of the triangulation appears exactly $r$ times. This notion of a rainbow cycle extends in a natural way to other flip graphs. In this paper we investigate the existence of $r$-rainbow cycles for three different flip graphs on classes of geometric objects: the aforementioned flip graph of triangulations of a convex $n$-gon, the flip graph of plane trees on an ar…
The flip graph is the graph whose nodes correspond to non-isomorphic combinatorial triangulations and whose edges connect pairs of triangulations that can be obtained one from the other by flipping a single edge. In this note we show that the diameter of the flip graph is at least $\frac{7n}{3} + Θ(1)$, improving upon the previous $2n + Θ(1)$ lower bound.
In this thesis, we study two different graph problems. The first problem revolves around geometric spanners. Here, we have a set of points in the plane and we want to connect them with straight line segments, such that there is a path between each pair of points that does not make a large detour. If we achieve this, the resulting graph is called a spanner. We focus our attention on $Θ$-graphs, which are constructed by connecting each point with its nearest neighbour in a fixed number of cones. Although this construction is very straight-forward, it has proven challenging to fully determine the…
Intrinsic Delaunay triangulation (IDT) is a fundamental data structure in computational geometry and computer graphics. However, except for some theoretical results, such as existence and uniqueness, little progress has been made towards computing IDT on simplicial surfaces. To date the only way for constructing IDTs is the edge-flipping algorithm, which iteratively flips the non-Delaunay edge to be locally Delaunay. Although the algorithm is conceptually simple and guarantees to stop in finite steps, it has no known time complexity. Moreover, the edge-flipping algorithm may produce non-regula…
We report on the implementation of an algorithm for computing the set of all regular triangulations of finitely many points in Euclidean space. This algorithm, which we call down-flip reverse search, can be restricted, e.g., to computing full triangulations only; this case is particularly relevant for tropical geometry. Most importantly, down-flip reverse search allows for massive parallelization, i.e., it scales well even for many cores. Our implementation allows to compute the triangulations of much larger point sets than before.
We give a new algorithm to simplify a given triangulation with respect to a given curve. The simplification uses flips together with powers of Dehn twists in order to complete in polynomial time in the bit-size of the curve.
We reprove a result of Dehkordi, Frati, and Gudmundsson: every two vertices in a non-obtuse triangulation of a point set are connected by an angle-monotone path--an xy-monotone path in an appropriately rotated coordinate system. We show that this result cannot be extended to angle-monotone spanning trees, but can be extended to boundary-rooted spanning forests. The latter leads to a conjectural edge-unfolding of sufficiently shallow polyhedral convex caps.
A new O(nlog(n)) algorithm is presented for performing Delaunay triangulation of sets of 2D points. The novel component of the algorithm is a radially propagating \emph{sweep-hull} (sequentially created from the radially sorted set of 2D points, giving a non-overlapping triangulation), paired with a final triangle flipping step to give the Delaunay triangluation. In empirical tests the algorithm runs in approximately half the time of q-hull for 2D Delaunay triangulation on randomly generated point sets.
We show that the triangulations of a finite point set form a flip graph that can be embedded isometrically into a hypercube, if and only if the point set has no empty convex pentagon. Point sets of this type include convex subsets of lattices, points on two lines, and several other infinite families. As a consequence, flip distance in such point sets can be computed efficiently.
Consider a weighted graph G where vertices are points in the plane and edges are line segments. The weight of each edge is the Euclidean distance between its two endpoints. A routing algorithm on G has a competitive ratio of c if the length of the path produced by the algorithm from any vertex s to any vertex t is at most c times the length of the shortest path from s to t in G. If the length of the path is at most c times the Euclidean distance from s to t, we say that the routing algorithm on G has a routing ratio of c.We present an online routing algorithm on the Delaunay triangulation with…
(I) We prove that the (maximum) number of monotone paths in a geometric triangulation of $n$ points in the plane is $O(1.7864^n)$. This improves an earlier upper bound of $O(1.8393^n)$; the current best lower bound is $Ω(1.7003^n)$. (II) Given a planar geometric graph $G$ with $n$ vertices, we show that the number of monotone paths in $G$ can be computed in $O(n^2)$ time.
Let $P\subset\mathbb{R}^{2}$ be a set of $n$ points. In this paper we show two new algorithms, one to compute the number of triangulations of $P$, and one to compute the number of pseudo-triangulations of $P$. We show that our algorithms run in time $O^{*}(t(P))$ and $O^{*}(pt(P))$ respectively, where $t(P)$ and $pt(P)$ are the largest number of triangulation paths (T-paths) and pseudo-triangulations paths (PT-paths), respectively, that the algorithms encounter during their execution. Moreover, we show that $t(P) = O^{*}(9^{n})$, which is the first non-trivial bound on $t(P)$ to be known. Whil…
It is important to have effective methods for simplifying 3-manifold triangulations without losing any topological information. In theory this is difficult: we might need to make a triangulation super-exponentially more complex before we can make it smaller than its original size. Here we present experimental work that suggests the reality is far different: for an exhaustive census of 81,800,394 one-vertex triangulations that span 1,901 distinct closed orientable 3-manifolds, we never need to add more than two extra tetrahedra, we never need more than a handful of Pachner moves (or bistellar f…
We present a deterministic local routing algorithm that is guaranteed to find a path between any pair of vertices in a half-$θ_6$-graph (the half-$θ_6$-graph is equivalent to the Delaunay triangulation where the empty region is an equilateral triangle). The length of the path is at most $5/\sqrt{3} \approx 2.887$ times the Euclidean distance between the pair of vertices. Moreover, we show that no local routing algorithm can achieve a better routing ratio, thereby proving that our routing algorithm is optimal. This is somewhat surprising because the spanning ratio of the half-$θ_6$-graph is 2, …
Montefiore Institute（蒙特菲奥雷研究所）；University of Liège（列日大学）
This work studies path planning in two-dimensional space, in the presence of polygonal obstacles. We specifically address the problem of building a roadmap graph, that is, an abstract representation of all the paths that can potentially be followed around a given set of obstacles. Our solution consists in an original refinement algorithm for constrained Delaunay triangulations, aimed at generating a roadmap graph suited for planning paths with arbitrary clearance. In other words, a minimum distance to the obstacles can be specified, and the graph does not have to be recomputed if this distance…
A geometric graph is angle-monotone if every pair of vertices has a path between them that---after some rotation---is $x$- and $y$-monotone. Angle-monotone graphs are $\sqrt 2$-spanners and they are increasing-chord graphs. Dehkordi, Frati, and Gudmundsson introduced angle-monotone graphs in 2014 and proved that Gabriel triangulations are angle-monotone graphs. We give a polynomial time algorithm to recognize angle-monotone geometric graphs. We prove that every point set has a plane geometric graph that is generalized angle-monotone---specifically, we prove that the half-$θ_6$-graph is general…
We describe a new algorithm for computing the Voronoi diagram of a set of $n$ points in constant-dimensional Euclidean space. The running time of our algorithm is $O(f \log n \log Δ)$ where $f$ is the output complexity of the Voronoi diagram and $Δ$ is the spread of the input, the ratio of largest to smallest pairwise distances. Despite the simplicity of the algorithm and its analysis, it improves on the state of the art for all inputs with polynomial spread and near-linear output size. The key idea is to first build the Voronoi diagram of a superset of the input points using ideas from Vorono…
In this paper we determine the stretch factor of the $L_1$-Delaunay and $L_\infty$-Delaunay triangulations, and we show that this stretch is $\sqrt{4+2\sqrt{2}} \approx 2.61$. Between any two points $x,y$ of such triangulations, we construct a path whose length is no more than $\sqrt{4+2\sqrt{2}}$ times the Euclidean distance between $x$ and $y$, and this bound is best possible. This definitively improves the 25-year old bound of $\sqrt{10}$ by Chew (SoCG '86). To the best of our knowledge, this is the first time the stretch factor of the well-studied $L_p$-Delaunay triangulations, for any rea…
We study the problem of finding a triangulation T of a planar point set S such as to minimize the expected distance between two points x and y chosen uniformly at random from S. By distance we mean the length of the shortest path between x and y along edges of T. The length of a path is the sum of the weights of its edges. Edge weights are assumed to be given as part of the problem for every pair of distinct points (x,y) in S^2. In a different variant of the problem, the points are vertices of a simple polygon and we look for a triangulation of the interior of the polygon that is optimal in th…
