Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
K.L.Muck [1988] tried a different sort of mapping technique. Space is represented in an Oct-tree, with the Oct-tree representing robotic motion constraints in the environment. A connectivity graph is then generated from the Oct-tree and the A* search is used. The main thrust of this routine is to reduce the problem to solving the specific motion constraints which apply to the current condition. This technique was implemented for a single link manipulator in a convex hull environment.