Introduction
    • Related work
    • Reachability roadmap
    • Experiments
    • Conclusions & current work
                            
    Related Work – 
    Probabilistic Roadmap Method
    • Construction phase
                                                 Free space
                                                 Forbidden space
                                                 Sample
                                                 CLoollcaidl inpagt phath
                          c        cc
                     c
                    c’         c
                              c’
                              c’
                                   
    Related Work – 
    Probabilistic Roadmap Method
    • Query phase
                                                 Free space
                                                 Forbidden space
                                                 Sample
                                                 Local path
                                                 Start / goal
                                                 Shortest path
                                   
    Related Work – 
    Visibility Based Roadmap
                                        Free space
                                       Forbidden space
                                       Guard sample
                                       Connector sample
                                        Local path
                                        Start / goal
                                       Shortest path
                            
          Related Work – 
          Shortcomings
          • PRM                                                                        • Visibility PRM
                   – Path not always found                                                     – Path not always found
                   – Large roadmap                                                             – Slower
                   239 no39 nodedes,s 0.15, 0.3 secon seconddss                                531 9 nnododes, es, 107 seco.15 seconndsds