03_cell_decompositions

trapezoidal decomposition

relies heavily on the polygonal representation of the plannar configuration space.

• trapezoidal decomposition
• adjacency graph
• connect the midpoints of the vertical extensions to get the free-path

triangulation

morse decomposition

representationa of nonpolygonal and nonplannar spaces.

boustrophedon decomposition

maximum clearance roadmap

Canny's Roadmap Algorithm

refer