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o Optimize Path 4E 44El= 8ql "JBql 4+El= €+,l]r]lH+ol+. ol sdg dq6IE zl:a+ zl:{re+ EL4l ^J6J Hs 4E "i 6L6J HE 4E= ^I+g trll ++ Alzl 4 4s+g+. {zlq^l 44s}+ ull;- r}ol9 Hl €z} ol€€ 4iE6}r 7l++ t} Ftg +Ee+ *+7141+ d +g +z16}= ,J!eE *+ Aezl\l&q. ag Etrl6J+. ol zlb$ tlo} +s 4Ez| ggs.ol-L a1a3= =tt s. zlEzlOEoll,<-1 10E ^lolol4+ tr".J HE 4E7I OEql^J 10E ^Iololr.6I6J Bs 4EzI gosoJ ?* oll"J rI-Sg + gl+. ql= =q, fl+ HB"J -"1+q. xlrE A+ ^l^He + *!lE *+ Atr= ^J^d6I .l ++ as= 44+6J+. a H4l t4lq^J= xl-z u;a}oE E= tr-6} ull^= 4^lq olFe}+. ^EilOFil H[6] _ tj.!st oo + H4ll +4q^l= xlr Hlql HJ6Jo E E-= ^J6J Ell^= 4ilq olEe}+. gl zHg OEoll,<1 10E ^l-olel 616} Hs 4LEei 0ore1 ^JoJ +s 4LE= ^I+6Iq 44slg zlr= Eq = +. 6Io-J Hs 4IEzI gEolp oI44 ,J'Jql ql6J ++ €4ol B^J6J.zl * .tr}. ,r|+^l ^l^Hg a Hal + 4lql^J EltrE 'J+ +Eql ql6l] E= +l+ €+g ^Jc6Ia ulEE Hlql+e-s olF6J +g + H4l +alql^J EIEE += + +Eq E]j6l] EE +l+ A+g ^JC.J+. ++ Atr= q 3l4El6}7l +l"]] + Er{l +4lql^l ^ Beq ololol Hldg ag +"Jg + ?l+. o Extend to Boundary AAlvl^l €tlg "+lEoJ' €+ol+ "oI{EoJ' e+g ^Jc.J oI +E AAlvl^l €+ uil^g E €. €tL6JtrI. "+lsoJ',(gl: a1a3 Hs 4E=0) € +ql ql6H oFF-tr €a6lE EIEE flHql^J zl q^E €alol +^l€+("A'+a). "?lErJ' €+ ql qldl oNetr €C6IE €41 *6JeE u|= 4 Alvl^l zJ -:\lt-zl- €tlg+('B'+a). "ol4EoJ', (91 : t J tss 4E=0) €Alql EllE}] OFFE €A 6IE ulEE flEq1 ^l + fl^z} ^l4g+. ("C"+a) "ot{EoJ' €+ql 4"ll ONes €e6IE 4 €^iE ^l It xldql^J zJ -t\Lzl AAlvl^l Stlg+. ('D"+a) A'Jg.EI U:EF = Eufl E4l I flfi]l EXI OffoJ rrfl ?lEtrJ On"J rtl +leU Oftg ql oElltroJ o n ) OJ E o o\ JFJ E lt x o o o o = d c l \ oI