Images courtesy of A. Moore Cell-decomposition Exact cell Decomposition pproximate Cell Decomposition Variable-resolution Approximate Cell decomposition Images courtesy of B Bayazit Potential functions Khatib 1986 Koditschek 1998 } Attractive Potential Repulsive Potential Combined Potential for goals for obstacles Field Move along force: F(x)=VUatt(x)-VUren(x)Cell-decomposition Approximate Cell Decomposition Variable-resolution Approximate Cell Decomposition Exact Cell Decomposition Images courtesy of A. Moore Potential Functions Attractive Potential for goals Repulsive Potential for obstacles Combined Potential Field Move along force: F(x) = ∇Uatt(x)-∇Urep(x) Khatib 1986 Latombe 1991 Koditschek 1998 Images courtesy of B. Bayazit