Asymptotics of geometrical navigation on a random set of points in the plane

A navigation on a set of points S is a rule for choosing which point to move to from the present point in order to progress toward a specified target. We study some navigations in the plane where S is a nonuniform Poisson point process (in a finite domain) with intensity going to +∞. We show the convergence of the traveller's path lengths, and give the number of stages and the geometry of the traveller's trajectories, uniformly for all starting points and targets, for several navigations of geometric nature. Other costs are also considered. This leads to asymptotic results on the stretch factors of random Yao graphs and random θ-graphs.