The inform conception provides a method, grouping and machine information creation for routing binary paths finished polygonal obstacles. In a desirable embodiment, the medium begins by counteractive the initial paths finished the obstacles from the obstacles to modify keyed paths. If it is observed that some keyed line encounters a just arrived intersection, the keyed line or paths are restricted to modify revised paths. The vertices of apiece impediment are labeled. All the revised and every the keyed paths are sorted. Then, according to their classified order, the revised and the keyed paths are reconstructed to modify equilibrize paths.

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