Soft Subdivision Search Video
Our approach to path planning is
based on the principle of resolution-exactness and
implemented in the Soft Subdivision Search (SSS) Framework.
This video explains the SSS framework using
a trio of simple planar robots.
These algorithms achieves state-of-art real-time performance, and
are relatively easy to implement.
Video presented at SoCG 2016
(Click Icon for Youtube video)
The simple robots are: disc, triangle, and 2-link robots.
They have, respectively, 2 DoF, 3 DoF and 4 DoF.
The 2-link robot has two variants: crossing and non-crossing,
depending on whether the two links are allowed to cross each other
For the non-crossing 2-link robot, we can also freely
specify the minimum angle between the links.
Several search strategies have been implemented:
random, BFS, Greedy, Size+Distance, Voronoi.
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