1 research outputs found
Semi-dynamic connectivity in the plane
Motivated by a path planning problem we consider the following procedure.
Assume that we have two points and in the plane and take
. At each step we add to a compact convex
set that does not contain nor . The procedure terminates when the sets
in separate and . We show how to add one set to
in amortized time plus the time needed to find
all sets of intersecting the newly added set, where is the
cardinality of , is the number of sets in
intersecting the newly added set, and is the inverse of the
Ackermann function