Create Configuration Space Assume: Vehicle translates. but no rotation Idea: Transform to equivalent Goal problem of navigating a point position 7 2. Map from Continuous Problem to a Roadmap Create Visibility Graph Start position Brian Williams, Fall 03 tion7 1. Create Configuration Space Start position Goal position Idea: Transform to equivalent problem of navigating a point. Assume: Vehicle translates, but no rotation 8 2. Map From Continuous Problem to a Roadmap: Create Visibility Graph Start position Goal position Brian Williams, Fall 03 Brian Williams, Fall 03