   randomized Trapezoidal decomposition
  Can anyone help me with a good article possibly with implementation(or detailes on it) on the subject?thanks.   
  I'm not familiar with a randomized version of the trapezoidal decomposition algorithm so I can't help you there, but for the basics this is always a good place to start.  In particular, see section 6.1.Also, have you tried just reading some of the PDFs that you can find here, like this one?   ;  thanks but i don't really have time to read that , i need to pull off a one day quick fix .I either make it or fake it. In fact any trapezoidal decomposition will work.   ;Quote:Original post by Makaanthanks but i don't really have time to read that , i need to pull off a one day quick fix .I either make it or fake it. In fact any trapezoidal decomposition will work.Section 6.1 in the 'Robot Motion Planning' book referenced above is actually quite short; it's only a couple pages and it's not particularly heavy reading.  IIRC the full text has pseudocode, so if you're at a university and can just check it out from the library I think it'll solve most of your problems.It's also described in section 6.2.2 here in about two pages, albeit not quite as thoroughly.   ;  ok thanks.   