Computing Skeletons for Rectilinearly Convex Obstacles in the Rectilinear Plane
M Volz, M Brazil, C Ras, D Thomas
Journal of Optimization Theory and Applications | Springer | Published : 2020
We introduce the concept of an obstacle skeleton, which is a set of line segments inside a polygonal obstacle ω that can be used in place of ω when performing intersection tests for obstacle-avoiding network problems in the plane. A skeleton can have significantly fewer line segments compared to the number of line segments in the boundary of the original obstacle, and therefore performing intersection tests on a skeleton (rather than the original obstacle) can significantly reduce the CPU time required by algorithms for computing solutions to obstacle-avoidance problems. A minimum skeleton is a skeleton with the smallest possible number of line segments. We provide an exact O(n2) algorithm f..View full abstract
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We thank Martin Zachariasen for interesting discussions and feedback over the course of developing this work. This work was supported by an Australian Research Council Discovery Grant.