Hdmove2 //free\\

[ q^* = \arg\min_q \in Q | q - D(z^*) |^2 \quad \texts.t. \quad q \in Q_free ]

[4] L. E. Kavraki, P. Svestka, J. C. Latombe, and M. H. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Transactions on Robotics and Automation , vol. 12, no. 4, pp. 566–580, 1996. hdmove2

You're looking for a deep review of hdmove2! [ q^* = \arg\min_q \in Q | q - D(z^*) |^2 \quad \texts

Let ( Q \subset \mathbbR^n ) be the configuration space with ( n ) degrees of freedom. The feasible set ( Q_free = q \in Q \mid \textno collision, \textjoint limits satisfied ). A trajectory is a mapping ( \tau: [0, T] \to Q_free ). J. C. Latombe

[ z^* = \arg\min_z(t) \in Z \mathcalJ[D(z(t))] \quad \texts.t. \quad \texthomotopy constraints ]