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Celldecomposition is one of the first applicable solution for path planning - robot path planning.
The algorithm aims to find free areas (cells not occupied by obstacles) in the configuration space, and build a graph of adjacency for these cells.
It is a six d.o.f. path planner for free-flying robots. It is based on hierarchical cell CSpace decomposition, sampling and Harmonic functions. Path Planning and Haptic rendering are integrated to find a free path and to provide haptic feedback.