Mikhail Rudoy’s research while affiliated with Google Inc. and other places

Given a planar straight-line graph G=(V,E)G=(V,E) in R2$\mathbb {R}^2$, a circumscribing polygon of G is a simple polygon P whose vertex set is V, and every edge in E is either an edge or an internal diagonal of P. A circumscribing polygon is a polygonization for G if every edge in E is an edge of P. We prove that every arrangement of n disjoint line segments in the plane has a subset of size Ω(n)$\Omega (\sqrt{n})$ that admits a circumscribing polygon, which is the first improvement on this bound in 20 years. We explore relations between circumscribing polygons and other problems in combinatorial geometry, and generalizations to R3$\mathbb {R}^3$. We show that it is NP-complete to decide whether a given graph G admits a circumscribing polygon, even if G is 2-regular. Settling a 30-year old conjecture by Rappaport, we also show that it is NP-complete to determine whether a geometric matching admits a polygonization.

We prove NP-completeness of Yin-Yang / Shiromaru-Kuromaru pencil-and-paper puzzles. Viewed as a graph partitioning problem, we prove NP-completeness of partitioning a rectangular grid graph into two induced trees (normal Yin-Yang), or into two induced connected subgraphs (Yin-Yang without $2 \times 2$ rule), subject to some vertices being pre-assigned to a specific tree/subgraph.

Given a graph where every vertex has exactly one labeled token, how can we most quickly execute a given permutation on the tokens? In (sequential) token swapping, the goal is to use the shortest possible sequence of swaps, each of which exchanges the tokens at the two endpoints of an edge of the graph. In parallel token swapping, the goal is to use the fewest rounds, each of which consists of one or more swaps on the edges of a matching. We prove that both of these problems remain NP-hard when the graph is restricted to be a tree. These token swapping problems have been studied by disparate groups of researchers in discrete mathematics, theoretical computer science, robot motion planning, game theory, and engineering. Previous work establishes NP-completeness on general graphs (for both problems); polynomial-time algorithms for simple graph classes such as cliques, stars, paths, and cycles; and constant-factor approximation algorithms in some cases. The two natural cases of sequential and parallel token swapping in trees were first studied over thirty years ago (as "sorting with a transposition tree") and over twenty-five years ago (as "routing permutations via matchings"), yet their complexities were previously unknown. We also show limitations on approximation of sequential token swapping on trees: we identify a broad class of algorithms that encompass all three known polynomial-time algorithms that achieve the best known approximation factor (which is 2) and show that no such algorithm can achieve an approximation factor less than 2.

Given a set of point sites, a sona drawing is a single closed curve, disjoint from the sites and intersecting itself only in simple crossings, so that each bounded region of its complement contains exactly one of the sites. We prove that it is NP-hard to find a minimum-length sona drawing for n given points, and that such a curve can be longer than the TSP tour of the same points by a factor $> 1.5487875$. When restricted to tours that lie on the edges of a square grid, with points in the grid cells, we prove that it is NP-hard even to decide whether such a tour exists. These results answer questions posed at CCCG 2006.

We analyze the computational complexity of the many types of pencil-and-paper-style puzzles featured in the 2016 puzzle video game The Witness. In all puzzles, the goal is to draw a simple path in a rectangular grid graph from a start vertex to a destination vertex. The different puzzle types place different constraints on the path: preventing some edges from being visited (broken edges); forcing some edges or vertices to be visited (hexagons); forcing some cells to have certain numbers of incident path edges (triangles); or forcing the regions formed by the path to be partially monochromatic (squares), have exactly two special cells (stars), or be singly covered by given shapes (polyominoes) and/or negatively counting shapes (antipolyominoes). We show that any one of these clue types (except the first) is enough to make path finding NP-complete (“witnesses exist but are hard to find”), even for rectangular boards. Furthermore, we show that a final clue type (antibody), which necessarily “cancels” the effect of another clue in the same region, makes path finding Σ2-complete (“witnesses do not exist”), even with a single antibody (combined with many anti/polyominoes), and the problem gets no harder with many antibodies. On the positive side, we give a polynomial-time algorithm for monomino clues, by reducing to hexagon clues on the boundary of the puzzle, even in the presence of broken edges, and solving “subset Hamiltonian path” for terminals on the boundary of an embedded planar graph in polynomial time.

Cookie Clicker is a popular online incremental game where the goal of the game is to generate as many cookies as possible. In the game you start with an initial cookie generation rate, and you can use cookies as currency to purchase various items that increase your cookie generation rate. In this paper, we analyze strategies for playing Cookie Clicker optimally. While simple to state, the game gives rise to interesting analysis involving ideas from NP-hardness, approximation algorithms, and dynamic programming.

Given a planar straight-line graph G=(V,E) in $\mathbb{R}^2$, a circumscribing polygon of G is a simple polygon P whose vertex set is V, and every edge in E is either an edge or an internal diagonal of P. A circumscribing polygon is a polygonization for G if every edge in E is an edge of P. We prove that every arrangement of n disjoint line segments in the plane has a subset of size $\Omega(\sqrt{n})$ that admits a circumscribing polygon, which is the first improvement on this bound in 20 years. We explore relations between circumscribing polygons and other problems in combinatorial geometry, and generalizations to $\mathbb{R}^3$. We show that it is NP-complete to decide whether a given graph G admits a circumscribing polygon, even if G is 2-regular. Settling a 30-year old conjecture by Rappaport, we also show that it is NP-complete to determine whether a geometric matching admits a polygonization.

We analyze the computational complexity of the many types of pencil-and-paper-style puzzles featured in the 2016 puzzle video game The Witness. In all puzzles, the goal is to draw a simple path in a rectangular grid graph from a start vertex to a destination vertex. The different puzzle types place different constraints on the path: preventing some edges from being visited (broken edges); forcing some edges or vertices to be visited (hexagons); forcing some cells to have certain numbers of incident path edges (triangles); or forcing the regions formed by the path to be partially monochromatic (squares), have exactly two special cells (stars), or be singly covered by given shapes (polyominoes) and/or negatively counting shapes (antipolyominoes). We show that any one of these clue types (except the first) is enough to make path finding NP-complete (“witnesses exist but are hard to find”), even for rectangular boards. Furthermore, we show that a final clue type (antibody), which necessarily “cancels” the effect of another clue in the same region, makes path finding Σ2-complete (“witnesses do not exist”), even with a single antibody (combined with many anti/polyominoes), and the problem gets no harder with many antibodies. On the positive side, we give a polynomial-time algorithm for monomino clues, by reducing to hexagon clues on the boundary of the puzzle, even in the presence of broken edges, and solving “subset Hamiltonian path” for terminals on the boundary of an embedded planar graph in polynomial time.

Cookie Clicker is a popular online incremental game where the goal of the game is to generate as many cookies as possible. In the game you start with an initial cookie generation rate, and you can use cookies as currency to purchase various items that increase your cookie generation rate. In this paper, we analyze strategies for playing Cookie Clicker optimally. While simple to state, the game gives rise to interesting analysis involving ideas from NP-hardness, approximation algorithms, and dynamic programming.

We initiate a general theory for analyzing the complexity of motion planning of a single robot through a graph of "gadgets", each with their own state, set of locations, and allowed traversals between locations that can depend on and change the state. This type of setup is common to many robot motion planning hardness proofs. We characterize the complexity for a natural simple case: each gadget connects up to four locations in a perfect matching (but each direction can be traversable or not in the current state), has one or two states, every gadget traversal is immediately undoable, and that gadget locations are connected by an always-traversable forest, possibly restricted to avoid crossings in the plane. Specifically, we show that any single nontrivial four-location two-state gadget type is enough for motion planning to become PSPACE-complete, while any set of simpler gadgets (effectively two-location or one-state) has a polynomial-time motion planning algorithm. As a sample application, our results show that motion planning games with "spinners" are PSPACE-complete, establishing a new hard aspect of Zelda: Oracle of Seasons.