An Efficient Algorithm for Euclidean Shortest Paths Among Polygonal Obstacles in the Plane

Sanjiv Kapoor, S. N. Maheshwari, Joseph S. B. Mitchell. An Efficient Algorithm for Euclidean Shortest Paths Among Polygonal Obstacles in the Plane. Discrete & Computational Geometry, 18(4):377-383, 1997. [doi]

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