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4.1.2 Manifolds

In motion planning, efforts are made to ensure that the resulting
configuration space has nice properties that reflect the true
structure of the space of transformations. One important kind of
topological space, which is general enough to include most of the
configuration spaces considered in Part II, is called a
manifold. Intuitively, a manifold can be considered as a ``nice''
topological space that behaves at every point like our intuitive
notion of a surface.

**Subsections**

Steven M LaValle
2012-04-20