If an obstacle is added, update the graph as needed, rather than having to re-create the entire Search Space.
This can be done by checking every single vertex in the tree (or trees), to see if it resides within the newly-added obstacle, and removing the vertex and corresponding edges as needed.
When removing an obstacle, no modification of the graph should be necessary.
If an obstacle is added, update the graph as needed, rather than having to re-create the entire Search Space. This can be done by checking every single vertex in the tree (or trees), to see if it resides within the newly-added obstacle, and removing the vertex and corresponding edges as needed.
When removing an obstacle, no modification of the graph should be necessary.