Planning a purely translational motion of a convex object in two- dimensional space using generalized Voronoi diagrams (Q1084674)

The authors consider Voronoi diagrams \(Vor_ B(S)\) constructed for a convex set B and a set S of convex bodies, playing roles of obstacles for motions of B. They also give an efficient algorithm for computing \(Vor_ B(S)\) for relatively simple objects B and S and discuss related applications to motion planning for B.