How do you generate the non-convex hull from a series of points?

Question

I am currently trying to construct the area covered by a device over an operating period. The first step in this process appears to be constructing a polygon of the covered

Answer 1

You might try looking into Alpha Shapes. The CGAL library can compute them.

Edit: I see that the paper you linked references alpha shapes, and also has an algorithm listing. Is that not high level enough for you? Since you listed python as a tag, I'm sure there are Delaunay triangulation libraries in Python, which I think is the hardest part of implementing the algorithm; you just need to make sure you can modify the resulting triangulation output. The boundary query functions can probably be implemented with associative arrays.