Shortest path planning in discretized workspaces using dominance relation
S. Jun, Kang Geun Shin · IEEE Transactions on Robotics and Automation · 1991
A method of partitioning a workspace using rectilinear visibility in 3-D or higher space is presented. Unlike the case of 2-D space where the shape of a partition is a rectangle, the shape of a partition in 3-D or higher space is arbitrary. The existence of dominance relations between the partitioned regions is proven. This relation is then utilized to efficiently solve the shortest path planning problem in 3-D or higher space.>