Trains, Games, and Complexity: 0/1/2-Player Motion Planning through Input/Output Gadgets

We analyze the computational complexity of motion planning through local "input/output" gadgets with separate entrances and exits, and a subset of allowed traversals from entrances to exits, each of which changes the state of the gadget and thereby the allowed traversals. We study such gadgets in the 0-, 1-, and 2-player settings, in particular extending past motion-planning-through-gadgets work to 0-player games for the first time, by considering "branchless" connections between gadgets that route every gadget's exit to a unique gadget's entrance. Our complexity results include containment in L, NL, P, NP, and PSPACE; as well as hardness for NL, P, NP, and PSPACE. We apply these results to show PSPACE-completeness for certain mechanics in Factorio, [the Sequence], and a restricted version of Trainyard, improving prior results. This work strengthens prior results on switching graphs and reachability switching games.Comment: 37 pages, 36 figure

Signal Transmission Across Tile Assemblies: 3D Static Tiles Simulate Active Self-Assembly by 2D Signal-Passing Tiles

The 2-Handed Assembly Model (2HAM) is a tile-based self-assembly model in which, typically beginning from single tiles, arbitrarily large aggregations of static tiles combine in pairs to form structures. The Signal-passing Tile Assembly Model (STAM) is an extension of the 2HAM in which the tiles are dynamically changing components which are able to alter their binding domains as they bind together. For our first result, we demonstrate useful techniques and transformations for converting an arbitrarily complex STAM$^+$ tile set into an STAM$^+$ tile set where every tile has a constant, low amount of complexity, in terms of the number and types of ``signals'' they can send, with a trade off in scale factor. Using these simplifications, we prove that for each temperature $\tau>1$ there exists a 3D tile set in the 2HAM which is intrinsically universal for the class of all 2D STAM$^+$ systems at temperature $\tau$ (where the STAM$^+$ does not make use of the STAM's power of glue deactivation and assembly breaking, as the tile components of the 2HAM are static and unable to change or break bonds). This means that there is a single tile set $U$ in the 3D 2HAM which can, for an arbitrarily complex STAM$^+$ system $S$, be configured with a single input configuration which causes $U$ to exactly simulate $S$ at a scale factor dependent upon $S$. Furthermore, this simulation uses only two planes of the third dimension. This implies that there exists a 3D tile set at temperature $2$ in the 2HAM which is intrinsically universal for the class of all 2D STAM$^+$ systems at temperature $1$. Moreover, we show that for each temperature $\tau>1$ there exists an STAM$^+$ tile set which is intrinsically universal for the class of all 2D STAM$^+$ systems at temperature $\tau$, including the case where $\tau = 1$.Comment: A condensed version of this paper will appear in a special issue of Natural Computing for papers from DNA 19. This full version contains proofs not seen in the published versio

Picture-Hanging Puzzles

We show how to hang a picture by wrapping rope around n nails, making a polynomial number of twists, such that the picture falls whenever any k out of the n nails get removed, and the picture remains hanging when fewer than k nails get removed. This construction makes for some fun mathematical magic performances. More generally, we characterize the possible Boolean functions characterizing when the picture falls in terms of which nails get removed as all monotone Boolean functions. This construction requires an exponential number of twists in the worst case, but exponential complexity is almost always necessary for general functions.Comment: 18 pages, 8 figures, 11 puzzles. Journal version of FUN 2012 pape

Locked and Unlocked Chains of Planar Shapes

We extend linkage unfolding results from the well-studied case of polygonal linkages to the more general case of linkages of polygons. More precisely, we consider chains of nonoverlapping rigid planar shapes (Jordan regions) that are hinged together sequentially at rotatable joints. Our goal is to characterize the families of planar shapes that admit locked chains, where some configurations cannot be reached by continuous reconfiguration without self-intersection, and which families of planar shapes guarantee universal foldability, where every chain is guaranteed to have a connected configuration space. Previously, only obtuse triangles were known to admit locked shapes, and only line segments were known to guarantee universal foldability. We show that a surprisingly general family of planar shapes, called slender adornments, guarantees universal foldability: roughly, the distance from each edge along the path along the boundary of the slender adornment to each hinge should be monotone. In contrast, we show that isosceles triangles with any desired apex angle less than 90 degrees admit locked chains, which is precisely the threshold beyond which the inward-normal property no longer holds.Comment: 23 pages, 25 figures, Latex; full journal version with all proof details. (Fixed crash-induced bugs in the abstract.

One-dimensional staged self-assembly

17th International Conference, DNA 17, Pasadena, CA, USA, September 19-23, 2011. ProceedingsWe introduce the problem of staged self-assembly of one-dimensional nanostructures, which becomes interesting when the elements are labeled (e.g., representing functional units that must be placed at specific locations). In a restricted model in which each operation has a single terminal assembly, we prove that assembling a given string of labels with the fewest stages is equivalent, up to constant factors, to compressing the string to be uniquely derived from the smallest possible context-free grammar (a well-studied O(logn)-approximable problem). Without this restriction, we show that the optimal assembly can be substantially smaller than the optimal context-free grammar, by a factor of Ω √n/log n even for binary strings of length n. Fortunately, we can bound this separation in model power by a quadratic function in the number of distinct glues or tiles allowed in the assembly, which is typically small in practice

Geometric Mechanics of Curved Crease Origami

Folding a sheet of paper along a curve can lead to structures seen in decorative art and utilitarian packing boxes. Here we present a theory for the simplest such structure: an annular circular strip that is folded along a central circular curve to form a three-dimensional buckled structure driven by geometrical frustration. We quantify this shape in terms of the radius of the circle, the dihedral angle of the fold and the mechanical properties of the sheet of paper and the fold itself. When the sheet is isometrically deformed everywhere except along the fold itself, stiff folds result in creases with constant curvature and oscillatory torsion. However, relatively softer folds inherit the broken symmetry of the buckled shape with oscillatory curvature and torsion. Our asymptotic analysis of the isometrically deformed state is corroborated by numerical simulations which allow us to generalize our analysis to study multiply folded structures

Time-Energy Tradeoffs for Evacuation by Two Robots in the Wireless Model

Two robots stand at the origin of the infinite line and are tasked with searching collaboratively for an exit at an unknown location on the line. They can travel at maximum speed $b$ and can change speed or direction at any time. The two robots can communicate with each other at any distance and at any time. The task is completed when the last robot arrives at the exit and evacuates. We study time-energy tradeoffs for the above evacuation problem. The evacuation time is the time it takes the last robot to reach the exit. The energy it takes for a robot to travel a distance $x$ at speed $s$ is measured as $xs^2$. The total and makespan evacuation energies are respectively the sum and maximum of the energy consumption of the two robots while executing the evacuation algorithm. Assuming that the maximum speed is $b$, and the evacuation time is at most $cd$, where $d$ is the distance of the exit from the origin, we study the problem of minimizing the total energy consumption of the robots. We prove that the problem is solvable only for $bc \geq 3$. For the case $bc=3$, we give an optimal algorithm, and give upper bounds on the energy for the case $bc>3$. We also consider the problem of minimizing the evacuation time when the available energy is bounded by $\Delta$. Surprisingly, when $\Delta$ is a constant, independent of the distance $d$ of the exit from the origin, we prove that evacuation is possible in time $O(d^{3/2}\log d)$, and this is optimal up to a logarithmic factor. When $\Delta$ is linear in $d$, we give upper bounds on the evacuation time.Comment: This is the full version of the paper with the same title which will appear in the proceedings of the 26th International Colloquium on Structural Information and Communication Complexity (SIROCCO'19) L'Aquila, Italy during July 1-4, 201

Parameterized Edge Hamiltonicity

We study the parameterized complexity of the classical Edge Hamiltonian Path problem and give several fixed-parameter tractability results. First, we settle an open question of Demaine et al. by showing that Edge Hamiltonian Path is FPT parameterized by vertex cover, and that it also admits a cubic kernel. We then show fixed-parameter tractability even for a generalization of the problem to arbitrary hypergraphs, parameterized by the size of a (supplied) hitting set. We also consider the problem parameterized by treewidth or clique-width. Surprisingly, we show that the problem is FPT for both of these standard parameters, in contrast to its vertex version, which is W-hard for clique-width. Our technique, which may be of independent interest, relies on a structural characterization of clique-width in terms of treewidth and complete bipartite subgraphs due to Gurski and Wanke

The Tree Inclusion Problem: In Linear Space and Faster

Given two rooted, ordered, and labeled trees $P$ and $T$ the tree inclusion problem is to determine if $P$ can be obtained from $T$ by deleting nodes in $T$. This problem has recently been recognized as an important query primitive in XML databases. Kilpel\"ainen and Mannila [\emph{SIAM J. Comput. 1995}] presented the first polynomial time algorithm using quadratic time and space. Since then several improved results have been obtained for special cases when $P$ and $T$ have a small number of leaves or small depth. However, in the worst case these algorithms still use quadratic time and space. Let $n_S$, $l_S$, and $d_S$ denote the number of nodes, the number of leaves, and the %maximum depth of a tree $S \in \{P, T\}$. In this paper we show that the tree inclusion problem can be solved in space $O(n_T)$ and time: O(\min(l_Pn_T, l_Pl_T\log \log n_T + n_T, \frac{n_Pn_T}{\log n_T} + n_{T}\log n_{T})). This improves or matches the best known time complexities while using only linear space instead of quadratic. This is particularly important in practical applications, such as XML databases, where the space is likely to be a bottleneck.Comment: Minor updates from last tim

The Power of Duples (in Self-Assembly): It's Not So Hip To Be Square

In this paper we define the Dupled abstract Tile Assembly Model (DaTAM), which is a slight extension to the abstract Tile Assembly Model (aTAM) that allows for not only the standard square tiles, but also "duple" tiles which are rectangles pre-formed by the joining of two square tiles. We show that the addition of duples allows for powerful behaviors of self-assembling systems at temperature 1, meaning systems which exclude the requirement of cooperative binding by tiles (i.e., the requirement that a tile must be able to bind to at least 2 tiles in an existing assembly if it is to attach). Cooperative binding is conjectured to be required in the standard aTAM for Turing universal computation and the efficient self-assembly of shapes, but we show that in the DaTAM these behaviors can in fact be exhibited at temperature 1. We then show that the DaTAM doesn't provide asymptotic improvements over the aTAM in its ability to efficiently build thin rectangles. Finally, we present a series of results which prove that the temperature-2 aTAM and temperature-1 DaTAM have mutually exclusive powers. That is, each is able to self-assemble shapes that the other can't, and each has systems which cannot be simulated by the other. Beyond being of purely theoretical interest, these results have practical motivation as duples have already proven to be useful in laboratory implementations of DNA-based tiles