#### Document Type

Conference Proceeding

#### Publication Date

6-1986

#### Publication Title

Proceedings of the Second Symposium on Computational Geometry

#### Department

Department of Computer Science

#### Abstract

Given a set S of points in the plane, there is a triangulation of S such that a path found within this triangulation has length bounded by a constant times the straight-line distance between the endpoints of the path. Specifically, for any two points a and b of S there is a path along edges of the triangulation with length less that sqrt(10) times [ab], where [ab] is the straight-line Euclidean distance between a and b. The triangulation that has this property is the L1 metric Delauney triangulation for the set S. This result can be applied to motion planning in the plane. Given a source, a destination, and a set of polygonal obstacles of size n, an O(n) size data structure can be used to find a reasonable approximation to the shortest path between the source and the destination in O (n log n) time.

#### Original Citation

Chew, L.P. (1986).There is a Planar Graph Almost as Good as the Complete Graph. *Proceedings of the 2nd Symposium on Computational Geometry, *Yorktown Heights, NY.

#### Dartmouth Digital Commons Citation

Chew, L Paul, "There is a Planar Graph Almost as Good as the Complete Graph" (1986). *Dartmouth Scholarship*. 4033.

https://digitalcommons.dartmouth.edu/facoa/4033

## Comments

This paper is listed in the Dartmouth College Computer Science Technical Report Series as number PCS-TR90-148.