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Path Planning: Incremental Searching Methods

Ariadne was the daughter of King Minos of Crete. Minos had Daedalus
build a Labyrinth, a house of winding passages, to house the bull-man,
the Minotaur, the beast that his wife Pasiphae bore after having
intercourse with a bull. (Minos had refused to sacrifice a bull to
Poseidon, as the king promised, so the god took revenge by causing his
wife to desire the bull--but that's another story.) Minos required
tribute from Athens in the form of young men and women to be
sacrificed to the Minotaur.

Theseus, an Athenian, volunteered to accompany one of these groups of
victims to deliver his country from the tribute to Minos. Ariadne fell
in love with Theseus and gave him a thread which he let unwind through
the Labyrinth so that he was able to kill the Minotaur and find his
way back out again.

Ovid says that Daedalus built a house in which he confused the usual
passages and deceived the eye with a conflicting maze of various
wandering paths (in errorem variarum ambage viarum) (Metamorphoses
8.161):

"so Daedalus made the innumerable paths of deception [innumeras errore 
vias], and he was barely able to return to the entrance: so deceptive 
was the house [tanta est fallacia tecti]" (8.166-68).

Source: http://www.georgetown.edu/labyrinth/info_labyrinth/ariadne.html