ABSTRACT
The kinematic roadmap provides us with a set of self collision-free closure configurations Θ € Cciosure (Equa tion 8) and connections between them. Therefore, by randomly generating base configurations gWb, we can “populate” the environment with kinematic roadmap nodes and edges-this will only require collision de tection with environment obstacles since we save the paths associated with the kinematic roadmap edges. Furthermore, roadmap nodes generated from the same closure configuration can be treated as rigid body con figurations during roadmap connection.
