Optimal shortest path and minimum-link path queries between two convex polygons inside a simple polygonal obstacle

Yi Jen Chiang, Roberto Tamassia

    Research output: Contribution to journalArticlepeer-review


    We present efficient algorithms for shortest-path and minimum-link-path queries between two convex polygons inside a simple polygon P, which acts as an obstacle to be avoided. Let n be the number of vertices of P, and h the total number of vertices of the query polygons. We show that shortest-path queries can be performed optimally in time O(logh+log n) (plus O(κ) time for reporting the κ edges of the path) using a data structure with O(κ) space and preprocessing time, and that minimum-link-path queries can be performed in optimal time O(logh+f log n) (plus O(κ) to report the κ links), with O(n3) space and preprocessing time. We also extend our results to the dynamic case, and give a unified data structure that supports both queries for convex polygons in the same region of a connected planar subdivision S. The update operations consist of insertions and deletions of edges and vertices. Let n be the current number of vertices in S. The data structure uses O(n) space, supports updates in O(log2 n) time, and performs shortest-path and minimum-link-path queries in times O(log h+log2n) (plus O (κ) to report the κ edges of the path) and O(log h + κlog2 n), respectively. Performing shortest-path queries is a variation of the well-studied separation problem, which has not been efficiently solved before in the presence of obstacles. Also, it was not previously known how to perform minimum-link-path queries in a dynamic environment, even for two-point queries.

    Original languageEnglish (US)
    Pages (from-to)85-121
    Number of pages37
    JournalInternational Journal of Computational Geometry and Applications
    Issue number1-2
    StatePublished - 1997


    • Analysis of algorithms
    • Computational geometry
    • Minimum-link path
    • Shortest path
    • Static and dynamic data structures

    ASJC Scopus subject areas

    • Theoretical Computer Science
    • Geometry and Topology
    • Computational Theory and Mathematics
    • Computational Mathematics
    • Applied Mathematics


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