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Presents a variant of probabilistic roadmap algorithms that appeared as a promising approach to motion planning. We exploit a free-space structuring of the configuration space into visibility domains in order to produce small roadmaps. The algorithm has been implemented within a software platform allowing us to address a large class of mechanical systems. Experiments show the efficiency of the approach in capturing narrow passages of collision-free configuration spaces.
Nissoux et al. (Mon,) studied this question.