Abstract
Given a set S of line segments in the plane, its visibility graph G S is the undirected graph which has the endpoints of the line segments in S as nodes and in which two nodes (points) are adjacent whenever they ‘see’ each other (the line segments in S are regarded as nontransparent obstacles). It is shown that G S can be constructed in O(n 2) time and space for a set S of n nonintersecting line segments. As an immediate implication, the shortest path between two points in the plane avoiding a set of n nonintersecting line segments can be computed in O(n 2) time and space
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