3.1.3 Other Models

The choice of a model often depends on the types of operations that will be performed by the planning algorithm. For combinatorial motion planning methods, to be covered in Chapter 6, the particular representation is critical. On the other hand, for sampling-based planning methods, to be covered in Chapter 5, the particular representation is important only to the collision detection algorithm, which is treated as a ``black box'' as far as planning is concerned. Therefore, the models given in the remainder of this section are more likely to appear in sampling-based approaches and may be invisible to the designer of a planning algorithm (although it is never wise to forget completely about the representation).


Steven M LaValle 2012-04-20