@article{Cheng2000ComputingSP,
title={Computing simple paths among obstacles},
author={Qi Cheng and Marek Chrobak and Gopalakrishnan Sundaram},
journal={Comput. Geom.},
year={2000},
volume={16},
pages={223-233}
}

Given a set X of points in the plane, two distinguished points s, t ∈X, and a set Φ of obstacles represented by line segments, we wish to compute a simple polygonal path from s to t that uses only points in X as vertices and avoids the obstacles inΦ. We present two results: (1) we show that finding such simple paths among arbitrary obstacles is NP-complete, and (2) we give a polynomial-time algorithm that computes simple paths when the obstacles form a simple polygonP andX is insideP . Our… CONTINUE READING