Robotics Research Technical Report: On the Geodesic Voronoi Diagram of Point Sites in a Simple Polygon (Classic Reprint)

Excerpt from Robotics Research Technical Report: On the Geodesic Voronoi Diagram of Point Sites in a Simple Polygon

One is hard pressed to efficiently compute the geodesic Voronoi diagram before having understood some of its properties and having determined its worst-case complexity. In this section, the definition of the diagram is given.

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