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We present a new class of curves which are self-approaching in the following sense. For any three consecutive points a, b, c on the curve the point b is closer to c than a to c. This is a generalisation of curves with increasing chords which are self-approaching in both directions. We show a tight upper bound of 5.3331. .. for the length of a(More)
Initial environmental pyrosequencing studies suggested highly complex protistan communities with phylotype richness decisively higher than previously estimated. However, recent studies on individual bacteria or artificial bacterial communities evidenced that pyrosequencing errors may skew our view of the true complexity of microbial communities. We(More)
A polygon with two distinguished vertices, s and g, is called a street iff the two boundary chains from s t o g are mutually weakly visible. For a mobile robot with on-board vision system we describe a strategy for finding a short path from s to g in a street not known in advance, and prove that the length of the path created does not exceed 1 + 2. times(More)
We present an on-line strategy that enables a mobile robot with vision to explore an unknown simple polygon. We prove that the resulting tour is less than 26.5 times as long as the shortest watchman tour that could be computed off-line. Our analysis is doubly founded on a novel geometric structure called the angle hull. Let D be a connected region inside a(More)
Given a simple polygon in the plane with two distinguished vertices, s and g, is it possible for two guards to simultaneously walk along the two boundary chains from s to g in such a way that they are always mutually visible? We decide this question in time O(n log n) and in linear space, where n is the number of edges of the polygon. Moreover, we compute a(More)
Abstract Voronoi diagrams were introduced by R . Klein [Kle89b, Kle88a, Kle88b] as an axiomatic basis ofVoronoi diagrams. We show how to construct abstract Voronoi diagrams in time O(nlogn) by a randomized algorithm, which is based on Clarkson and Shor's randomized incremental construction technique [CS89]. The new algorithm has the following advantages(More)