An exact method for finding shortest routes on a sphere, avoiding obstacles
提出WetRoute方法，在球面上给定两点和多个球形多边形障碍物时，快速找到避开障碍物的最短路径，已被美国海军采用。
Abstract On the surface of a sphere, we take as inputs two points, neither of them contained in any of a number of spherical polygon obstacles, and quickly find the shortest route connecting these two points while avoiding any obstacle. The WetRoute method presented here has been adopted by the US Navy for several applications. © 2016 Wiley Periodicals, Inc. Naval Research Logistics 63: 374–385, 2016