Planning Methods for Robots, Games and Biomolecules

CS 591

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Perhaps you've played the alpha puzzle before? Often made up of bent nails, the solution consists of twisting and pulling to separate these two pieces of metal. If you've been able to solve this difficult puzzle, you had to find the exactly right angle to get them to separate. This problem has become a benchmark on which to test new motion planning algorithms. (Image from Planning Algorithms by Steven LaValle available here.)