Cellular Decomposition

In robotics, cell decomposition is a technique used to break down complex environments into smaller, simpler sub-regions or cells.

Cell decomposition is just basically converting the Configuration Space into a cellular representation (grid).

http://motion.cs.illinois.edu/RoboticSystems/GeometricMotionPlanning.html

Question

I always see these different representations, which leave me a bit confused.

Concepts

• Boustrophedon Decomposition
• Trapezoidal Decomposition