@inproceedings{be61172f6e66439bb504a5b049c552ac,
title = "An efficient algorithm for computing high-quality paths amid polygonal obstacles",
abstract = "We study a path-planning problem amid a set 0 of obstacles in R2, in which we wish to compute a short path between two points while also maintaining a high clearance from 0; the clearance of a point is its distance from a nearest obstacle in 0. Specifically, the problem asks for a path minimizing the reciprocal of the clearance integrated over the length of the path. We present the first polynomial-time approximation scheme for this problem. Let n be the total number of obstacle vertices and let ϵ ∈ (0, 1]. Our algorithm computes in time 0(n2/ϵ2 log n/ϵ) a path of total cost at most (1 + ϵ) times the cost of the optimal path.",
author = "Agarwal, \{Pankaj K.\} and Kyle Fox and Oren Salzman",
note = "Publisher Copyright: {\textcopyright} Copyright (2016) by SIAM: Society for Industrial and Applied Mathematics.; 27th Annual ACM-SIAM Symposium on Discrete Algorithms, SODA 2016 ; Conference date: 10-01-2016 Through 12-01-2016",
year = "2016",
doi = "10.1137/1.9781611974331.ch82",
language = "الإنجليزيّة",
series = "Proceedings of the Annual ACM-SIAM Symposium on Discrete Algorithms",
pages = "1179--1192",
editor = "Robert Krauthgamer",
booktitle = "27th Annual ACM-SIAM Symposium on Discrete Algorithms, SODA 2016",
}