Boustrophedon cell decomposition

The boustrophedon cell decomposition is a method used in artificial intelligence and robotics for configuration space solutions. Like other cellular decomposition methods, this method transforms the configuration space into cell regions that can be used for path planning.

A strength of the boustrophedon cell decomposition is that it allows for more diverse, non-polygonal obstacles within a configuration space. [Choset, Howie. [http://www.springerlink.com/content/pq26x0qu58322435/ Coverage of Known Spaces: The Boustrophedon Cellular Decomposition] ]

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