function [pathRefined,uVrefined,refined] = refineIncidents(uV,pathOrig,Obst,minSmoothness,dperc)

%init
pathRefined = pathOrig(1);
uVrefined = uV;
vx = zeros(1,3);
vy = zeros(1,3);

%init incident loop
vx(1) = uV(1,pathOrig(1));
vy(1) = uV(2,pathOrig(1));

%loop over incidents
for iI=2:length(pathOrig)-1,
    vx(2:3) = uV(1,pathOrig(iI:iI+1));
    vy(2:3) = uV(2,pathOrig(iI:iI+1));
    [a,b,b,A,B,C] = cosinelaw(vx,vy);
    
    %check for minimal 'smoothness'
    if B*180/pi<minSmoothness,
        %init
        vxNew = [];
        vyNew = [];
        
        %loop over edges with steps of dperc percent
        perc=dperc;
        while perc<=1,
            
            %new edge with vertices replacing vertex x,y(2)
            vxTest(1) = vx(2)-(vx(2)-vx(1))*perc;
            vxTest(2) = vx(2)-(vx(2)-vx(3))*perc;
            vyTest(1) = vy(2)-(vy(2)-vy(1))*perc;
            vyTest(2) = vy(2)-(vy(2)-vy(3))*perc;
            
            %check for possible collision with obstacles
            obstID = checkEdge(vxTest,vyTest,Obst);
            if ~obstID,
                vxNew = vxTest;
                vyNew = vyTest;
                
                if perc == 1,   %skip this vertex
                    %exit WHILE-loop
                    break;
                else
                    %increase refinement percentage
                    perc=min(1,perc+dperc);
                end
            else
                if isempty(vxNew),
                    pathRefined=[pathRefined, pathOrig(iI)];
                else
                    %add new vertices to uV
                    uVrefined=[uVrefined, [vxNew; vyNew]];
                    
                    %update path
                    pathRefined = [pathRefined, size(uVrefined,2)-[1,0]];
                end
                %exit WHILE-loop
                break;
            end
        end
    else
        %update path
        pathRefined = [pathRefined, pathOrig(iI)];
    end
    
    %init next incident step
    vx(1) = uVrefined(1,pathRefined(end));
    vy(1) = uVrefined(2,pathRefined(end));
end
pathRefined = [pathRefined, pathOrig(end)];

%check for refinement
if size(pathOrig,2)~=size(pathRefined),
    refined=1;
else refined=0;
end