Optimal piecewise linear motion of an object among obstacles

  title={Optimal piecewise linear motion of an object among obstacles},
  author={Christos H. Papadimitriou and Ellen B. Silverberg},
We present an algorithm for determining the shortest restricted path motion of a polygonal object amidst polygonal obstacles. The class of motions which are allowed can be described as follows: a designated vertex,P, of the polygonal object traverses a piecewise linear path, whose breakpoints are restricted to the vertices of the obstacles. The distance measure being minimized is the length of the path traversed byP. Our algorithm runs in timeO(n 4kogn). We also discuss a variation of this… CONTINUE READING


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