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GS1 - 12 In .NET Using Barcode generator for VS .Related: Codabar Generation .NET , .NET ITF-14 Generation , Interleaved 2 of 5 Generating .NET For a given scene, the in-position was de ned in Section 332 as a situation when either Start or Target points, or both, lie inside the convex hull of obstacles that the line (Start, Target) intersects Note that the in-position situation is only a suf cient condition for trouble: Simple examples can be designed where no cycles are produced in spite of the in-position condition being satis ed Try to come up with a necessary and suf cient condition call it GOODCON that would guarantee a no-cycle performance by Bug2 algorithm Your statement would say: Algorithm Bug2 will produce no cycles in the path if and only if condition GOODCON is satis ed 2 The following sensor-based motion planning algorithm, called AlgX (see the procedure below), has been suggested for moving a mobile point automaton (MA) in a planar environment with unknown arbitrarily shaped obstacles. . 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