Approximation algorithms for shortest path motion planning
STOC '87 Proceedings of the nineteenth annual ACM symposium on Theory of computing
On the Stretch Factor of the Constrained Delaunay Triangulation
ISVD '06 Proceedings of the 3rd International Symposium on Voronoi Diagrams in Science and Engineering
Geometric Spanner Networks
Plane spanners of maximum degree six
ICALP'10 Proceedings of the 37th international colloquium conference on Automata, languages and programming
Connections between theta-graphs, delaunay triangulations, and orthogonal surfaces
WG'10 Proceedings of the 36th international conference on Graph-theoretic concepts in computer science
Proceedings of the twenty-ninth annual symposium on Computational geometry
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Let P be a set of points in the plane and S a set of non-crossing line segments with endpoints in P. The visibility graph of P with respect to S, denoted Vis(P,S), has vertex set P and an edge for each pair of vertices u,v in P for which no line segment of S properly intersects uv. We show that the constrained half-θ6-graph (which is identical to the constrained Delaunay graph whose empty visible region is an equilateral triangle) is a plane 2-spanner of Vis(P,S). We then show how to construct a plane 6-spanner of Vis(P,S) with maximum degree 6 + c, where c is the maximum number of segments adjacent to a vertex.