Abstract
AnO(n logn) algorithm for planning a purely translational motion for a simple convex object amidst polygonal barriers in two-dimensional space is given. The algorithm is based on a new generalization of Voronoi diagrams (similar to that proposed by Chew and Drysdale [1] and by Fortune [2]), and adapts and uses a recent technique of Yap for the efficient construction of these diagrams.
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Work on this paper by the second author has been supported in part by a grant from the U.S.-Israeli Binational Science Foundation.
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Leven, D., Sharir, M. Planning a purely translational motion for a convex object in two-dimensional space using generalized Voronoi diagrams. Discrete Comput Geom 2, 9–31 (1987). https://doi.org/10.1007/BF02187867
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DOI: https://doi.org/10.1007/BF02187867