6.1 Introduction

All of the algorithms presented in this chapter are complete, which means that for any problem instance (over the space of problems for which the algorithm is designed), the algorithm will either find a solution or will correctly report that no solution exists. By contrast, in the case of sampling-based planning algorithms, weaker notions of completeness were tolerated: resolution completeness and probabilistic completeness.


Steven M LaValle 2012-04-20