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Lecture Notes in Computer Science
Motivated by a path planning problem we consider the following procedure. Assume that we have two points s and t in the plane and take K = ∅. At each step we add to K a compact convex set that does not contain s nor t. The procedure terminates when the sets in K separate s and t. We show how to add one set to K in O(1 + kα(n)) amortized time plus the time needed to find all sets of K intersecting the newly added set, where n is the cardinality of K, k is the number of sets in K intersecting thedoi:10.1007/978-3-319-21840-3_10 fatcat:i73ungmkwzhhzat6pdgn7t22de