Adaptation Algorithm of Geometric Graphs for Robot Motion Planning in Dynamic Environments

Figure 20

Topologies of the adaptive roadmap at equilibrium for various conditions of the free configuration space ratio. (a) 89.6%; (b) 69.3%; (c) 79.5%; (d) 59.9%; (e) 59.3%; (f) 54.1%; (g) 57.8%; (h) 48.68%; (i) 38.7%.

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