Optimum Path Packing on Wheels :
نویسندگان
چکیده
We show that, given a wheel with nonnegative edge lengths and pairs of terminals located on the wheel's outer cycle such that no two terminal pairs cross, then a path packing, i. e., a collection of edge disjoint paths connecting the given terminal pairs, of minimum length can be found in strongly polynomial time. Moreover, we exhibit for this case a system of linear inequalities that provides a complete and nonredundant description of the path packing polytope, which is the convex hull of all incidence vectors of path packings and their supersets.
منابع مشابه
A vehicle with a two-wheel steering system mobile in shallow dense granular media
We design a vehicle with a steering system made of two independently rotatable wheels on the front. We quantify the effectiveness of the steering system in the mobility and maneuverability of the vehicle running in a box containing a layer ping-pong balls with a packing density 0.8, below the random close packing value 0.84 in 2D. The steering system can reduce the resistance exerted by the jam...
متن کاملOn the Global Optimum Path Planning for Redundant Space Manipulators
AbsCrocr-Robotic manipulators wiU play a significant role in the maintenance and repair of space stations and satellites, and other f u m space missions. Robot path planning and control for the above applications should be optimum, since any inetedency in the planning may considerably risk the success of the space mission. This paper prrsents a global optimum path planning scheme for redundant ...
متن کاملProperties and Classification of the Wheels of the OLS Polytope
A wheel in a graph G(V, E) is an induced subgraph consisting of an odd hole and an additional node connected to all nodes of the hole. In this paper, we study the wheels of the column intersection graph of the OLS polytope (PI). These structures induce valid inequalities for this polytope, which are facet defining for its set packing relaxation. Our work builds on simple structural properties o...
متن کاملOptimization and Dynamic Simulation of a Nurse Robot in Hospital Environment Using Genetic Algorithm
Optimization using results of dynamical and mechanical simulation of a robotic nurse unit to assist paraplegic patients, on a virtual path similar to actual hospital environment, is addressed in this paper. Force-Angle tipover stability margin measurement was employed in Genetic Algorithm optimization in order to find optimum driving and locomotion mechanism for the robot. By running the ADAMS ...
متن کاملPlanning sub-optimal and continuous-curvature paths for car-like robots
This paper deals with path planning for car-like robot. Usual planners compute paths made of circular arcs tangentially connected by line segments, as these paths are locally optimal. The drawback of these paths is that their curvature proole is not continuous: to follow them precisely, a vehicle must stop and reorient its directing wheels at each curvature discontinuity (transition segment{ ci...
متن کامل