Yields a constant-factor approximation and runs in O(N2D2) time f(S \ A?(S)) f? 1 2 max 1 kf , 1 (1 + ↵) , 1 (N ↵) <latexit sha1_base64="AnGFAg9ZWO0EWnRVAnStA00bbtM=">AAACiHicbZHLbhMxFIY9A4USLg2wZGMRISUqrWaqopZdgQ0rVARpK8VDdMaxEysez2CfQUSWn4V3Ysfb4FyAXjiSpV/f+W0f/y4brRxm2a8kvXV7687d7Xud+w8ePtrpPn5y5urWcjHkta7tRQlOaGXEEBVqcdFYAVWpxXk5f7fsn38T1qnafMZFI4oKpkZJxQEjGnd/MGmBe9lnFeCMg/afAnMCK2VaR//CN+ELcwj2sm0wCF6ucWBT8ZWuj8qDPwid6PtOPdNC4sjne/OxDC//Gfr5LgPdzGBwhX7Y+0Mps2o6wyKMu71sP1sVvSnyjeiRTZ2Ouz/ZpOZtJQxyDc6N8qzBwoNFxbWIg7VONMDnMBWjKA1UwhV+FWSgLyKZUFnbuAzSFb28w0Pl3KIqo3OZg7veW8L/9UYtyuPCK9O0KAxfXyRbTbGmy1+hE2UFR72IArhVcVbKZxBzwfh3nRhCfv3JN8XZwX4e9cfD3snxJo5t8ow8J32SkyNyQt6TUzIkPNlKdpPD5FXaSbP0KH29tqbJZs9TcqXSt78BT0bFMQ==</latexit> <latexit sha1_base64="AnGFAg9ZWO0EWnRVAnStA00bbtM=">AAACiHicbZHLbhMxFIY9A4USLg2wZGMRISUqrWaqopZdgQ0rVARpK8VDdMaxEysez2CfQUSWn4V3Ysfb4FyAXjiSpV/f+W0f/y4brRxm2a8kvXV7687d7Xud+w8ePtrpPn5y5urWcjHkta7tRQlOaGXEEBVqcdFYAVWpxXk5f7fsn38T1qnafMZFI4oKpkZJxQEjGnd/MGmBe9lnFeCMg/afAnMCK2VaR//CN+ELcwj2sm0wCF6ucWBT8ZWuj8qDPwid6PtOPdNC4sjne/OxDC//Gfr5LgPdzGBwhX7Y+0Mps2o6wyKMu71sP1sVvSnyjeiRTZ2Ouz/ZpOZtJQxyDc6N8qzBwoNFxbWIg7VONMDnMBWjKA1UwhV+FWSgLyKZUFnbuAzSFb28w0Pl3KIqo3OZg7veW8L/9UYtyuPCK9O0KAxfXyRbTbGmy1+hE2UFR72IArhVcVbKZxBzwfh3nRhCfv3JN8XZwX4e9cfD3snxJo5t8ow8J32SkyNyQt6TUzIkPNlKdpPD5FXaSbP0KH29tqbJZs9TcqXSt78BT0bFMQ==</latexit> <latexit sha1_base64="AnGFAg9ZWO0EWnRVAnStA00bbtM=">AAACiHicbZHLbhMxFIY9A4USLg2wZGMRISUqrWaqopZdgQ0rVARpK8VDdMaxEysez2CfQUSWn4V3Ysfb4FyAXjiSpV/f+W0f/y4brRxm2a8kvXV7687d7Xud+w8ePtrpPn5y5urWcjHkta7tRQlOaGXEEBVqcdFYAVWpxXk5f7fsn38T1qnafMZFI4oKpkZJxQEjGnd/MGmBe9lnFeCMg/afAnMCK2VaR//CN+ELcwj2sm0wCF6ucWBT8ZWuj8qDPwid6PtOPdNC4sjne/OxDC//Gfr5LgPdzGBwhX7Y+0Mps2o6wyKMu71sP1sVvSnyjeiRTZ2Ouz/ZpOZtJQxyDc6N8qzBwoNFxbWIg7VONMDnMBWjKA1UwhV+FWSgLyKZUFnbuAzSFb28w0Pl3KIqo3OZg7veW8L/9UYtyuPCK9O0KAxfXyRbTbGmy1+hE2UFR72IArhVcVbKZxBzwfh3nRhCfv3JN8XZwX4e9cfD3snxJo5t8ow8J32SkyNyQt6TUzIkPNlKdpPD5FXaSbP0KH29tqbJZs9TcqXSt78BT0bFMQ==</latexit> <latexit sha1_base64="AnGFAg9ZWO0EWnRVAnStA00bbtM=">AAACiHicbZHLbhMxFIY9A4USLg2wZGMRISUqrWaqopZdgQ0rVARpK8VDdMaxEysez2CfQUSWn4V3Ysfb4FyAXjiSpV/f+W0f/y4brRxm2a8kvXV7687d7Xud+w8ePtrpPn5y5urWcjHkta7tRQlOaGXEEBVqcdFYAVWpxXk5f7fsn38T1qnafMZFI4oKpkZJxQEjGnd/MGmBe9lnFeCMg/afAnMCK2VaR//CN+ELcwj2sm0wCF6ucWBT8ZWuj8qDPwid6PtOPdNC4sjne/OxDC//Gfr5LgPdzGBwhX7Y+0Mps2o6wyKMu71sP1sVvSnyjeiRTZ2Ouz/ZpOZtJQxyDc6N8qzBwoNFxbWIg7VONMDnMBWjKA1UwhV+FWSgLyKZUFnbuAzSFb28w0Pl3KIqo3OZg7veW8L/9UYtyuPCK9O0KAxfXyRbTbGmy1+hE2UFR72IArhVcVbKZxBzwfh3nRhCfv3JN8XZwX4e9cfD3snxJo5t8ow8J32SkyNyQt6TUzIkPNlKdpPD5FXaSbP0KH29tqbJZs9TcqXSt78BT0bFMQ==</latexit> ‣ If there are no attacks, same performance as regular greedy curvature kf 2 [0, 1] <latexit sha1_base64="vhMTxvJt6vTjPgnwRDXhD++dqe8=">AAAB83icbZBNS8NAEIYn9avWr6pHL4tF8CAlEcEeC148VrAf0ISy2W7apZtN2J0IJfRvePGgiFf/jDf/jds2B219YeHhnRlm9g1TKQy67rdT2tjc2t4p71b29g8Oj6rHJx2TZJrxNktkonshNVwKxdsoUPJeqjmNQ8m74eRuXu8+cW1Eoh5xmvIgpiMlIsEoWsufDCJfqL57RbxgUK25dXchsg5eATUo1BpUv/xhwrKYK2SSGtP33BSDnGoUTPJZxc8MTymb0BHvW1Q05ibIFzfPyIV1hiRKtH0KycL9PZHT2JhpHNrOmOLYrNbm5n+1foZRI8iFSjPkii0XRZkkmJB5AGQoNGcopxYo08LeStiYasrQxlSxIXirX16HznXds/xwU2s2ijjKcAbncAke3EIT7qEFbWCQwjO8wpuTOS/Ou/OxbC05xcwp/JHz+QOW0JCw</latexit> <latexit sha1_base64="vhMTxvJt6vTjPgnwRDXhD++dqe8=">AAAB83icbZBNS8NAEIYn9avWr6pHL4tF8CAlEcEeC148VrAf0ISy2W7apZtN2J0IJfRvePGgiFf/jDf/jds2B219YeHhnRlm9g1TKQy67rdT2tjc2t4p71b29g8Oj6rHJx2TZJrxNktkonshNVwKxdsoUPJeqjmNQ8m74eRuXu8+cW1Eoh5xmvIgpiMlIsEoWsufDCJfqL57RbxgUK25dXchsg5eATUo1BpUv/xhwrKYK2SSGtP33BSDnGoUTPJZxc8MTymb0BHvW1Q05ibIFzfPyIV1hiRKtH0KycL9PZHT2JhpHNrOmOLYrNbm5n+1foZRI8iFSjPkii0XRZkkmJB5AGQoNGcopxYo08LeStiYasrQxlSxIXirX16HznXds/xwU2s2ijjKcAbncAke3EIT7qEFbWCQwjO8wpuTOS/Ou/OxbC05xcwp/JHz+QOW0JCw</latexit> <latexit sha1_base64="vhMTxvJt6vTjPgnwRDXhD++dqe8=">AAAB83icbZBNS8NAEIYn9avWr6pHL4tF8CAlEcEeC148VrAf0ISy2W7apZtN2J0IJfRvePGgiFf/jDf/jds2B219YeHhnRlm9g1TKQy67rdT2tjc2t4p71b29g8Oj6rHJx2TZJrxNktkonshNVwKxdsoUPJeqjmNQ8m74eRuXu8+cW1Eoh5xmvIgpiMlIsEoWsufDCJfqL57RbxgUK25dXchsg5eATUo1BpUv/xhwrKYK2SSGtP33BSDnGoUTPJZxc8MTymb0BHvW1Q05ibIFzfPyIV1hiRKtH0KycL9PZHT2JhpHNrOmOLYrNbm5n+1foZRI8iFSjPkii0XRZkkmJB5AGQoNGcopxYo08LeStiYasrQxlSxIXirX16HznXds/xwU2s2ijjKcAbncAke3EIT7qEFbWCQwjO8wpuTOS/Ou/OxbC05xcwp/JHz+QOW0JCw</latexit> <latexit sha1_base64="vhMTxvJt6vTjPgnwRDXhD++dqe8=">AAAB83icbZBNS8NAEIYn9avWr6pHL4tF8CAlEcEeC148VrAf0ISy2W7apZtN2J0IJfRvePGgiFf/jDf/jds2B219YeHhnRlm9g1TKQy67rdT2tjc2t4p71b29g8Oj6rHJx2TZJrxNktkonshNVwKxdsoUPJeqjmNQ8m74eRuXu8+cW1Eoh5xmvIgpiMlIsEoWsufDCJfqL57RbxgUK25dXchsg5eATUo1BpUv/xhwrKYK2SSGtP33BSDnGoUTPJZxc8MTymb0BHvW1Q05ibIFzfPyIV1hiRKtH0KycL9PZHT2JhpHNrOmOLYrNbm5n+1foZRI8iFSjPkii0XRZkkmJB5AGQoNGcopxYo08LeStiYasrQxlSxIXirX16HznXds/xwU2s2ijjKcAbncAke3EIT7qEFbWCQwjO8wpuTOS/Ou/OxbC05xcwp/JHz+QOW0JCw</latexit> [Zhou, Tzoumas, Pappas, and Tokekar. ICRA ’19, RAL ‘19]