Newsgroups: comp.robotics
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From: "Joseph G. Kovalchik" <kovalchi@nps.navy.mil>
Subject: Free space decomposition/ comp geomerty
Message-ID: <D7q92o.22n@taurus.cs.nps.navy.mil>
Sender: news@taurus.cs.nps.navy.mil
Organization: Naval Postgraduate School, Monterey
Date: Fri, 28 Apr 1995 04:13:36 GMT
Lines: 14

Does anyone know of an algorithm to decompose a rectilinear
polygonal world with rectilinear polygonal holes into convex 
polygons where:
1. the borders between convex regions must have their endpoints
  on a physical boundary
2. the borders may be horizontal, verticle and diagonal lines
  and 
3. the summation of all border lengths is minimum.

Please provide references.

Many thanks.

Joe Kovalchik
