Hightower, "A solution to line-routing problem on the continuous plane," DAC-69. A single escape point on each line segment.

Hightower, "A solution to line-routing problem on the continuous plane," DAC-69. A single escape point on each line segment. If a line parallels to the blocked cells, the escape point is placed just past the endpoint of the segment. Time Space Finds path if one exists? Is the path shortest? Works on grids or lines?