Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
An interesting method created by B.Faverjon [1986] is to constructively model solid objects (via a custom CAD program) and then generate an Oct-tree representation of joint space from these. The A* search is used to find trajectories in the Oct-tree. This method works in cluttered environments for pick and place operations. The method was solved on a Perkin-Elmer mini-computer in under a minute.