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Shortest path planning in discretized workspaces using dominance relation

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2 Author(s)
S. Jun ; Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA ; K. G. Shin

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

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IEEE Transactions on Robotics and Automation  (Volume:7 ,  Issue: 3 )