Efficient Opening Detection
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We present an efficient and powerful algorithm for detecting openings. Openings indicate the existence of a new path for the robot. The reliable detection of new openings is especially relevant to the domain of Navigation Among Movable Obstacles in known  as well as unknown  environments. Tremendous speed-ups for algorithms in these domains can be achieved by limiting the considerations of obstacle manipulations to cases where manipulations create new openings. The presented algorithm can detect openings for obstacles of arbitrary shapes being displaced in arbitrary directions in changing environments. To the knowledge of the authors, this is the first algorithm to achieve efficient opening detection for arbitrary shaped obstacles.