“…For this, two kinds of methods exist. Explicit methods build a support data structure I from P and next define B based on I: Hierarchical methods build I from the hierarchy of a compound graph [10,13,23,28,68] or a tree extracted from a DAG [54]; generalgraph methods use spanning trees [51], Steiner trees [9], spiral trees [8], Voronoi diagrams [14,39], and Delaunay triangulations [14,55]. Given I, paths are routed along it as smooth curves, e.g.…”