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Overview of Selected Example Programs

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Subhrajit Bhattacharya edited this page Jan 11, 2023 · 11 revisions

Output from example program map2d_PathPlanning showing the progress of A* search algorithm (with zero heuristic) in finding shortest path in an 8-connected grid graph (requires OpenCV):

10000 vertices expanded 20000 vertices expanded 30000 vertices expanded Final path

Output from example program map2d_VoronoiPartitioning using S* search algorithm showing the progress in finding Voronoi partitioning of an environment with 4 start vertices (requires OpenCV):

10000 vertices expanded 20000 vertices expanded 40000 vertices expanded Final partitioning

Output from example program map2d_HomotopyPathPlanning using S* search algorithm showing the progress in finding shortest paths in two different homotopy classes by searching in the universal covering space of the environment (requires OpenCV):

10000 vertices expanded 30000 vertices expanded 70000 vertices expanded Final paths

Output from example program map2d_Delaunay using S* search algorithm showing the Delaunay triangulation from the Voronoi partitioning of an indoor environment with random initial points (requires OpenCV):
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