Software tool for constructing cell decompositions

We develop a collection of user-friendly MATLAB routines for partitioning a given environment into various types of cell decompositions. The environment is assumed planar, bounded by a convex polygon, and cluttered with an arbitrary number of convex polygonal obstacles. The developed tool implements four cell decomposition types, namely trapezoidal, triangular, polytopal, and rectangular. Some preliminary results on a comparative analysis of these cell decompositions were obtained by using the mentioned implementation.