In the GNC paper Sampling-Based Roadmap Methods for a Visual Reconnaissance UAV and Chapter 5.3 of the PhD dissertation Visibility Problems for Sensor Networks and Unmanned Air Vehicles, the convergence theorems require a general position assumption. We provide a detailed description of the general position assumption in Section IV.A of this JGCD article.

Last modified: Sun Feb 5 22:27:04 MST 2012