Symbolic Treatment of Geometric Degeneracies

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Symbolic Treatment of Geometric Degeneracies
Chee K Yap
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Clearly the combinatorial structure of the perturbed Voronoi diagram is different from the original Voronoi diagram. So, in the combinatorial sense, the problem would not seem stable. Another attempt at trying to show that the problem is stable is this: use the Hausdorff metric on closed point sets. Unfortunately a small perturbation may introduce an infinite Hausdorff distance between the two Voronoi di- agrams. [Consider the diagram of two points p = (-1, 0) and q = ( + 1, 0) and then perturb... one of the points top' = {6 - 1, 0) for all 0. ] Now suppose our goal is to use this Voronoi diagram to compute an obstacle-avoiding path for a unit disc between two specified points P and Q, viewing these sites as obstacles. (It follows from [15], that to find such a path, it is sufficient to look for one path in which the center of the disc lies in the Voronoi diagram. ) Let the set of n sites be represented by a £ f^ (where d = 2n and £"'' is the Euclidean d-dimensional space). It is natural to measure the 'connection width' between any two points P and Q in the plane by the quantity C(P, Q;a) > defined as the maximum value attained by the clearance of some path from P to Q in the presence of obstacles defined by a.

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