Continuous Representation

Summary

To account for the geometry of a robot and simplify the task of path planning, obstacles in the workspace can be inflated to create a new space called the configuration space (or C-space). With the obstacles inflated by the radius of the robot, the robot can then be treated as a point, making it easier for an algorithm to search for a path. The C-space is the set of all robot poses, and can be broken-down into C_{Free} and C_{Obs}.