Roadmaps: Exact Cell decomposition Incorporating Vehicle Dynamics into roadmaps Rapidly-exploring Random Trees(RRT Begin at the start state, attempt to grow into the goal state y exploring the vehicle's state space Search from both sides Goal StartBrian Williams, Fall 03 17 Roadmaps: Exact Cell Decomposition 18 Incorporating Vehicle Dynamics into Roadmaps • Goal Start Rapidly-exploring Random Trees (RRT) Brian Williams, Fall 03 – Begin at the start state, – attempt to grow into the goal state – by exploring the vehicle’s state space – Search from both sides