Traditional Approaches

Configuration Space

Generalized Cones

Voronoi Diagrams

The Grid Model

The Segment Model

The Vertex Model

Convex Polygons

Graphs

Polygonal Regions

Lozano-Perez’81

Brooks’82

Rosenberg & Rowat’81, Miller’85, Meng’87, Iyengar et al’85, Weisbin’87

Moravec and Elfes’85, Elfes’86, Moravec’88

Crowley’85, Turchan & Wong’85

Koch et al’85

Laumond’83, Giralt’83, Chatila & Laumond’85

Iyengar et al’85, Rao et al’86, Weisbin’87, Oommen et al’87, Turchan & Wong’85

Miller’85

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