Highlights

• Developed an engine that takes an environment made of convex polygons, partitions the world into several trapezoids.

• For each trapezoid it computes its properties (line segments, center, etc…).

• Then it creates the connections between the different trapezoids.

• According to the user’s choice of source and destination, a shortest path can be computed using either Dijkstra, Bellman Ford Moor or Floyd method.