Abstract
A method of partitioning a workspace using rectilinear visibility in 3-D or higher space is presented. Unlike the case of 2-D space where the shape of a partition is a rectangle, the shape of a partition in 3-D or higher space is arbitrary. The existence of dominance relations between the partitioned regions is proven. This relation is then utilized to efficiently solve the shortest path planning problem in 3-D or higher space.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Published Version
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