Separation of two monotone polygons in linear time
Godfried T. Toussaint, Hossam El Gindy · Robotica · 1984
SUMMARY Let P= (p1, p2, …, pn) and Q= (q1, q2, …, qm) be two simple polygons monotonic in directions θs and φ respectively. It is shown that P and Q are separable with a single translation in at least one of the directions: , . Furthermore, a direction for carrying out such a translation can be determined in O(m + n) time. This procedure is of use in solving the FIND-PATH problem in robotics.