C-space evaluation using hierarchical data structures

In this work we present a hierarchical algorithm to evaluate the configuration space of a mobile robot. Although it is based on discrete convolution of workspace and robot, quadtree representations have been introduced in order to obtain directly a quadtree representation of the C-space. Because these representations compact highly the information, it can be used for workspaces with high dimensions or/and resolutions. Also, as the algorithm is hierarchical, calculations at high resolutions are performed only in those regions where it is necessary.