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ACM Computing Surveys (CSUR), Volume 24 Issue 3, Sept. 1992

Gross motion planning—a survey
Yong K. Hwang, Narendra Ahuja
Pages: 219-291
DOI: 10.1145/136035.136037
Motion planning is one of the most important areas of robotics research. The complexity of the motion-planning problem has hindered the development of practical algorithms. This paper surveys the work on gross-motion planning, including motion...

Symbolic Boolean manipulation with ordered binary-decision diagrams
Randal E. Bryant
Pages: 293-318
DOI: 10.1145/136035.136043
Ordered Binary-Decision Diagrams (OBDDs) represent Boolean functions as directed acyclic graphs. They form a canonical representation, making testing of functional properties such as satisfiability and equivalence straightforward. A number of...