- Representation for Discrete Search
- Applying it to problems
- Path planning
- Motion planning with discretization
- Obstacle expansion
- grid discretization
- variable resolution discretization
- KD tree, Quad tree
- Decision tree
- Delauney triangulation
- search to corners (as discretization)
- Voronoi diagrams (as discretization) (link to vector fields?)
- Limitations
- (continuous spaces - discretization)
- Applying it to problems
Rapidly exploring Random Trees (RRTs) (S. M. LaValle - oct '98) * path planning, continuous environment * Keep a tree from the start state * Probability P - expand towards goal * Probability (1-P) - expand towards random point * Requires fast collision detection * Has problems with small gaps