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We present a new methodology for agent modeling that is scalable and efficient. It is based on the integration of nonlinear dynamical systems and kinetic data structures. The method consists of three-layers, which together model 3D agent steering, crowds and flocks among moving and static obstacles. The first layer, the local layer employs nonlinear(More)
In this paper we show an equivalence relationship between additively weighted Voronoi cells in R d , power diagrams in R d and convex hulls of spheres in R d. An immediate consequence of this equivalence relationship is a tight bound on the complexity of : (1) a single additively weighted Voronoi cell in dimension d; (2) the convex hull of a set of(More)
We study the predicates involved in an efficient dynamic algorithm for computing the Apollonius diagram in the plane, also known as the additively weighted Voronoi diagram. We present a complete algorithmic analysis of these predicates, some of which are reduced to simpler and more easily computed primitives. This gives rise to an exact and efficient(More)
Real solving of univariate polynomials is a fundamental problem with several important applications. This paper is focused on the comparison of black-box implementations of state-of-the-art algorithms for isolating real roots of univariate polynomials over the integers. We have tested 9 different implementations based on symbolic-numeric methods, Sturm(More)
<i>It is well known that the Delaunay Triangulation is a spanner graph of its vertices. In this paper we show that any bounded aspect ratio triangulation in two and three dimensions is a spanner graph of its vertices as well. We extend the notion of spanner graphs to environments with obstacles and show that both the Constrained Delaunay Triangulation and(More)
We present a global iterative algorithm for constructing spatial G 2‐continuous interpolating ν‐splines, which preserve the shape of the polygonal line that interpolates the given points. Furthermore, the algorithm can handle data exhibiting two kinds of degeneracy, namely, coplanar quadruples and collinear triplets of points. The convergence of the(More)