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 23

Topics: Introduction. Basic setup. Warm-up: Finding collinear points.
Notes:
- Slides: intro.pdf | collinear.pdf
- Lab: Hello World from the terminal
- Class work: worksheet-collinear.pdf
Assignments:
- Unix: Sean's unix tutorial | Laura's old notes

Jan 25

Topics: Github setup. Finding the closest pair of points.
Notes:
- LAB: Getting started with Github
- Slides: closestpair.pdf
- Class work: worksheet-closestpair.pdf
Other useful materials:
- GitHub cheatsheet

Jan 30

Topics: Geometric primitives (area of a triangle, collinear, left-of, segment intersection).
Assignment 1: Closest pair [due Tue Febr 6th]
Notes:
Reading: OR 1.3-1.5 (geometric primitives)

Feb 1

Feb 6, 8, 12

Topics: Convex hull in 2D: Properties, algorithms (gift wrapping, Quickhull, Graham scan, Andrew's monotone chain, incremental, divide-and-conquer) and lower bound.
Assignment 2: Convex hull [due Tue 2/20]
Notes: convexhull (I) | CH-class work | convexhull (II)
Reading: pointers.pdf
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)

Feb 14, 20, 22

Febr 26, 28, March 6

Topics: The line-sweep technique. Orthogonal line segment intersection. Bentley-Ottman sweep.
Assignment 4: segment intersection [due Monday 4/2]
Notes: orthogonal | bentley-ottman | ortho-classwork | BO-classwork
Internet sites I found useful:
- slides from CG class of Mark von Kreveld, Utrecht
- notes (by Michiel Smid)

March 8: snow day, class cancelled. Have a good break!

!!SPRING BREAK!!

March 27, 29, April 3, 5

Topics: 2D space partition data structures (grids, kd-trees, range trees). Range searching.
Notes: grids-and-kdtrees | kdtrees-classwork | range-trees | rangetree-classwork | rangetree-classwork
Assignment 5: kd-trees [due Thu 4/12]
Internet sites I found useful:
- slides from CG class of Mark van Kreveld, Utrecht
- Demos: from U Maryland | from H. Akcan | JavaGeom

April 5, 10

Topics: Art gallery problems. Definition and properties. Fisk's sufficiency proof.
Notes:
- Slides: art-gallery
Reading: OR chapter 1 (art gallery)
Internet links that I found useful:

April 12

April 17, 19

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:
- Slides: polygonTriangulation
- Class work: pt-work
Reading: OR chapter 2
Internet links that I found useful:
- Triangulating simple polygons (notes from Leo Guibas @ Stanford)
- Slides (from Mark von Kreveld, Utrecht)
- Part I | Part II by Misha Kazhdan at JHU
- Notes from UCSB (Subhash Suri)
- Notes by Robert Pless, WUSTL

April 24, 26

Topics: Combinatorial motion planning.
Notes/slides: motionplanning
Programming assignment 7: Combinatorial motion planning (due Thu May 3rd)
Reading: OR 8
Internet links I found useful:
- Steven LaValle book Planning algorithms | Chapter 6 (Combinatorial motion planning)

May 1, 3

Topics: Approximate motion planning.
Notes/slides: : motionplanning II | in class exercises
Programming assignment 8: Heuristical motion planning (due May 8 and May 19)
Internet links I found useful:
- Papers
  - Steven LaValle book Planning algorithms | Chapter 5 (Sampling-based motion planning)
  - Search-based planner: Incremental ARA*: An incremental anytime search algorithm for moving-target 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 | RRT: Progress and prospects, LaValle, Kuffner, 2000
  - PRM planner: slides | Latombe slides | 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
  - A survey of motion planning and control techniques for self-driving urban vehicles by Paden, Cap, Yong, Yershov and Fraziolli, 2016.
- 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

May 8

Last modified: Wed May 9 11:11:16 EDT 2018