The paper can be found here.
1. “This paper addresses the problem of efficiently computing optimal paths of arbitrary clearance from a polygonal representation of a given virtual environment.” (first sentence, abstract)
2. Computing free paths among obstacles which addresses the following requirements:
- Paths should take into account agents of difference sizes and they should be the shortest possible ones.
- Computation should be efficient in large environments with many agents and high frame rate requirements.
- The underlying data structure should well support the computation of reactive behaviors and other queries.
3. Local Clearance Triangulation (LCT), a novel type of triangulation mesh which enables the efficient and correct determination if a disc of arbitrary size can pass through any narrow passages of the mesh
4.a Quickly computes the shortest possible path between two points in an environment with obstacles for an agent of arbitrary size, shown for an environment with multiple agents of varying sizes that both avoid obstacles and react with each other by altering their paths.
4.b Could be used for computer games and crowd simulation systems.
5. paper’s web page, with video, extra slides, and source code