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.


Manifold Zucker Sino 


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Copyright information

© Springer Science+Business Media New York 1991

Authors and Affiliations

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

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