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Akman Annual ACM Conference array Artificial Intelligence Asano autonomous vehicle boundary C.H. Papadimitriou complexity Computational Geometry Computer Science Conference on Computational convex cost critical angle critical graph Dijkstra's algorithm Discrete Geodesic Problem Euclidean Shortest Paths Figure finding shortest paths Free Space Gewali given GMMN goal point grid graph Guibas heuristic J.S.B. Mitchell Kuan length line segments linear features Mitchell and Papadimitriou Mitchell Mi2 Mobile Robot Motion Planning N.C. Rowe nodes O(n log O(nlogn obeying Snell's Law obstacle-avoidance problem Operations Research optimality criterion Papadimitriou MP2 Path Planning pixels plane Polygonal Obstacles polygonal room polyhedron polynomial polynomial-time algorithm Preparata Proc quadtree refraction representation road Robot Navigation Robotics and Automation Schorr SS Sharir and Schorr shortest path algorithms shortest path map shortest path problem Simple Polygons solve specified straight line Technical Report technique terrain map terrain navigation triangulation vertex vertices visibility graph watchman route problem weighted region problem worst-case running zero-cost regions