Shortest zookeeper's routes in simple polygons
Let P be a simple polygon, and let P be a set of disjoint convex polygons inside P, each sharing one edge with P. The zookeeper's route problem asks for a shortest route inside P that visits (but does not enter) each polygon in P. We present an O(n(2)) time algorithm for computing a shortest zookeeper's route, on which no starting point is specified. (C) 2001 Elsevier Science B.V. All rights reserved.
zookeeper's routes computational geometry unfolding adjustments