In {TAIL ~ one embodiment}, {HEAD ~ obstacles} in the route area are identified and corresponding forbidden areas are demarcated 
In
In { TAIL ~ one embodiment } , { HEAD ~ obstacles } in the route area are identified and corresponding forbidden areas are demarcated
REL TAIL TAIL TAIL TAIL TAIL TAIL OTH HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH