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# An Ecient Algorithm for Euclidean Shortest Path with Polygonal Obstacles 3

@inproceedings{Kapoor1988AnEA, title={An Ecient Algorithm for Euclidean Shortest Path with Polygonal Obstacles 3}, author={Sanjiv Kapoor and S. N. Maheshwari}, year={1988} }

- Published 1988

In this paper we present an ecient solution to nding the Euclidean Shortest Path from one point to the other in the presence of polygonal obstacles. An O(m 2 logn+T) algorithm is developed where m is the number of obstacles and n, the number of vertices and T is the time for triangulation. The algorithm works by nding a restricted visibility graph in the obstacle space and is simple. It achieves the lower bound of (n+mlogm) when m = O((n=logn) 1=2). We also show an output sensitive time bound… CONTINUE READING