Exact Cell Decomposition

  • Jean-Claude Latombe
Part of the The Springer International Series in Engineering and Computer Science book series (SECS, volume 124)


In this chapter we describe a second approach to motion planning, exact cell decomposition. The principle of this approach is to first decompose the robot’s free space C free into a collection of non-overlapping regions, called cells, whose union is exactly1 C free (or its closure). Next, the connectivity graph which represents the adjacency relation among the cells is constructed and searched. If successful, the outcome of the search is a sequence of cells, called a channel, connecting the cell containing the initial configuration to the cell containing the goal configuration. A path is finally extracted from this sequence.


Connectivity Graph Curve Section Critical Curve Adjacency Relation Greatest Common Divisor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer Science+Business Media New York 1991

Authors and Affiliations

  • Jean-Claude Latombe
    • 1
  1. 1.Stanford UniversityUSA

Personalised recommendations