Older image: Trash can

Newer image: Failed sunset

These illustrations were done for my older brother.

Example tree of motions as built by a sampling based motion planner and the same tree of motions with a grid superimposed. The blue cells are exterior, the red are interior. Interior cells have 2n neighbours (ignoring diagonal ones) where n is the dimensionality of the space in which the grid is defined.

Multigrid discretization structure as used by the KPIECE algorithm.

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