(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. |
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Note that there are 3 small obstacle triangles in the junction area. |
Color Code: Yellow=MIXED,
Red=STUCK,
Green=FREE.
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. |