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Shortest path planning in discretized workspaces using dominance relation

By: Jun, S.; Shin, K.G.;

1991 / IEEE

Description

This item was taken from the IEEE Periodical ' Shortest path planning in discretized workspaces using dominance relation ' A method of partitioning a workspace using rectilinear visibility in 3-D or higher space is presented. Unlike the case of 2-D space where the shape of a partition is a rectangle, the shape of a partition in 3-D or higher space is arbitrary. The existence of dominance relations between the partitioned regions is proven. This relation is then utilized to efficiently solve the shortest path planning problem in 3-D or higher space.<>