Re: “Collision Avoidance Of Arbitrary Polygonal Obstacles.”
"As usual... Apple tries to patent something with boatloads of prior-art..."
It seems you don't understand the patent system at all.
The reason for the existence of patents is that the patent owner gets a time limited monopoly in exchange for publication, so that others can improve on the published patent. Yes, boatloads of prior art _is supposed to be there_. And then you improve the prior art and get a patent on the improvement.