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In this paper we consider the Rectilinear Minimum Link Path Problem among rectilinear obstacles in three dimensions. The problem is well studied in two dimensions, but is relatively unexplored in higher dimensions. We solve the problem in O (βn log n) time, where n is the number of corners among all obstacles, and β is the size of a binary space partition (BSP) decomposition of the space containing the obstacles. There exist methods to find a BSP where in the worst-case β = (n 3/2 ), giving usdoi:10.1016/j.comgeo.2008.04.006 fatcat:isosy2oc5fbkfhic5oinzugzyi