%T Planar Graphs and Sparse Graphs from Efficient Motion Planning in the Plane
%A L. Paul Chew
%R Technical Report PCS-TR90-146
%I Dartmouth College, Computer Science
%C Hanover, NH
%D  1990
%U http://www.cs.dartmouth.edu/reports/TR90-146.pdf
%X
 	Given a source, a destination, and a number of obstacles in
 the plane, the Motion Planning Program is to determine the best path
 to move an object (a robot) from the source to the destination without
 colliding with any of the obstacles.  For us, motion is restricted to
 the plane, the robot is represented by a point, and the obstacles are
 represented by a set of polygons with a total of n vertices among all
 the polygonal obstacles.