SPAM for a Manipulator by Best Next Move in Unknown Environments

Algorithm 1

-space mapping.

; ; /* initialize RRT tree for nth expansion, -space

  /*  : No. of local step

do while

   branch grown from    toward  

 if  ≠ 0 /*if robot collides with  

    /*collect c-space point cloud

 else

 end if

end do

/*update c-space point cloud

return ()