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The Minkowski sum of two sets A, B in ℝⁿ is defined to be the set of all points of the form a + b for a ∈ A and b ∈ B. Due to its fundamental nature, the Minkowski sum is an important object in many practical application areas such as image processing, geometric design, robotics, etc. However, compared to the simplicity of the definition, a Minkowski sum of plane domains can have quite complicated topological and geometric features in general. This is the case even when the summands are relatively...
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