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Roadmap

Roadmap represents the configuration space using a simple connected graph - similar to how a city can be represented by a metro map.

Roadmap methods are typically implemented in two phases:

Construction: builds up a graph from a continuous representation of the space. This phase usually takes a significant amount of time and effort, but the resultant graph can be used for multiple queries with minimal modifications.

Query: evaluates the graph to find a path from a start location to a goal location. This is done with the help of a search algorithm.

Two roadmap methods will be disucussed:

  1. Visibility graph
  2. Voronoi Diagram

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