Generating Digital Twins for Path-Planning of Autonomous Robots and Drones Using Constrained Homotopic Shrinking for 2D and 3D Environment Modeling - Denk, Martin; Bickel, Sebastian; Steck, Patrick; Götz, Stefan; Völkl, Harald; Wartzack, Sandro (Friedrich-Alexander-Universität Erlangen-Nürnberg, 2023)