---
title: "A Subdivision Algorithm Configuration Space for Findpath With Rotation"
authors:
  - "Rodney A. Brooks"
  - "Tomás Lozano-Pérez"
doi: ""
url: "https://ijcai.org/proceedings/1983/194"
pdf: "https://ijcai.org/proceedings/1983/0194.pdf"
venue: "Proceedings of the Eighth International Joint Conference on Artificial Intelligence"
year: 1983
pages: "799-805"
track: "Robotics"
keywords:
---

# A Subdivision Algorithm Configuration Space for Findpath With Rotation

Rodney A. Brooks, Tomás Lozano-Pérez

*Proceedings of the Eighth International Joint Conference on Artificial Intelligence*, pages 799-805.

## Abstract

A re curs ive cellular repre se ntation for configuration space is prc s pnted, along with an :1.lgorithm for searching that s pace for co lli sion -free paths. The details of the :1.lgorithm arc presented for polygonal obstacles and a moving object with two translational and one rotational degrees of freedom.