Computing homotopic shortest paths efficientlyComputational Geometry, Vol. 35, No. 3. (October 2006), pp. 162-172.
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AbstractWe give deterministic and randomized algorithms to find shortest paths homotopic to a given collection [Pi] of disjoint paths that wind amongst n point obstacles in the plane. Our deterministic algorithm runs in time , and the randomized algorithm runs in expected time O(kout+kinlogn+n(logn)1+[epsilon]). Here kin is the number of edges in all the paths of [Pi], and kout is the number of edges in the output paths.
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