MOBILE DEVICE CONTROL WITH GRID MAP OCCUPANCY DETERMINATION

In a grid map, an occupancy region defined by a first contour representing a set of first points and a second contour representing a set of second points is generated. The set of first points is determined for respective rays extending from a source by determining a first point at which the respective ray intersects a distal boundary of the grid map or a proximal boundary of an occupied grid cell. The set of second points is determined for respective rays extending from the source by determining a second point at which the respective ray intersects the distal boundary of the grid map or a distal boundary of the occupied grid cell.