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Cell decomposition based motion planning #11

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lakshayg opened this issue Jul 3, 2016 · 0 comments
Open
3 tasks

Cell decomposition based motion planning #11

lakshayg opened this issue Jul 3, 2016 · 0 comments
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enhancement

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@lakshayg
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lakshayg commented Jul 3, 2016

Currently the library supports only roadmap based algorithms. We need to implement algorithms which are based on decomposition of the workspace into cells.

Kinds of decompositions:

  • Trapezoidal decomposition
  • Morse cell decomposition
  • Visibility based decomposition

References:
[1] http://www.cs.cmu.edu/~motionplanning/lecture/Chap6-CellDecomp_howie.pdf
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