Border Points: Each cluster has a limited number of defined "border points" – these are the gateways in and out of the cluster.
Leading robotics company Boston Dynamics, based in the US, has turned to South Korean firm Hyundai Mobis – predominantly a maker of automotive parts – for a new generation of actuators.
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Notice how the highlighted region shrinks at each step. The algorithm never examines points outside the narrowing window. In a balanced tree with nnn points, this takes about log4(n)\log_4(n)log4(n) steps. For a million points, that's roughly 10 steps instead of a million comparisons.
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