|(A) Here is 8-Way Junction Environment, with start (double circle) and goal (single circle) configurations. Links are black and red.||(B) Subdivision of the 8-Way Configuration Space using the Greedy Best First Strategy.|
|Note that there are 3 small obstacle triangles in the junction area.||
Color Code: Yellow=MIXED,
The boxes shows extent of the translational DOFs, but each box is also associated with 2 rotational DOFs. Clicking a green box will display free rotational ranges.