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Quotient Space Based Problem Solving by Bo Zhang, Ling Zhang

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5.3. The Topological Model of Motion Planning

The idea of representing the motion planning problem in configuration space is to transform the moving object into a point and have the point move through that space. Generally, this is simpler than to consider the original object moving through the physical space, although the dimensions of the configuration space are usually higher than those of the physical one. The drawback of the above geometric approaches is in need of considering all geometric details throughout the entire planning process. When the environment is rather complicated, the computational complexity will increase rapidly.
From the multi-granular computing strategy, the problem can be solved in such a way that the problem is treated ...

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