Finitely-oriented Shortest Paths in the Presence of Polygonal Obstacles

Given a set of non-intersecting simple polygons, a set of points in the plane, and a set of xed orientations, we compute a graph such that for any two input points there exists a shortest path in G whose length equals the length of a shortest path between these points in the plane that does not intersect any polygon and that consists only of line segments… CONTINUE READING