Summary. We present algorithms for the efficient insertion and removal of constraints in Delaunay Triangulations. Constraints are considered to be points or any kind of polygonal lines. Degenerations such as edge overlapping, self-intersections or duplicated points are allowed and are automatically detected and fixed on line. As a result, a fully Dynamic Constrained Delaunay Triangulation is achieved, able to efficiently maintain a consistent triangulated representation of dynamic polygonal domains. Several applications in the fields of data visualization, reconstruction, geographic information systems and collision-free path planning are discussed.
My previous work of 2003 REF addressed the insertion and removal of constraints in a Constrained Delaunay Triangulation (CDT), and showed that environments can be well represented by CDTs for the purpose of path planning.
Fully Dynamic Constrained Delaunay Triangulations
Mathematics