Page 380 - Introduction to AI Robotics
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                                      10.4 Graph Based Planners





















































                                      Figure 10.10  a.) What A* “sees” as it considers a path A-?-E, and b.) the original
                                      graph. c.) What A* “sees” from considering a path A-D-?-E, and d.) the associated
                                      graph.
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