Separation of two monotone polygons in linear time

Abstract

Let P = {p1, p2,..., pn} and Q = {q1, q2,..., qm} be two simple polygons monotonic in directions θ and φ, respectively. It is shown that P and Q are separable with a single translation in at least one of the directions: θ + π / 2, φ + π / 2. Furthermore, a direction for carrying out such a translation can be determined in O(m + n) time. This procedure is of use in solving the FIND-PATH problem in robotics.

DOI: 10.1017/S0263574700008924

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Cite this paper

@article{Toussaint1984SeparationOT, title={Separation of two monotone polygons in linear time}, author={Godfried T. Toussaint and Hossam A. ElGindy}, journal={Robotica}, year={1984}, volume={2}, pages={215-220} }