This directory contains videos showing solutions obtained by our approach.
The regions in the environment are colored in grayscale based on their
clearance, i.e., distance from obstacles. Each video starts by showing the main
route (in cyan color). The motion planner then expands a motion tree (shown in
yellow) to follow the route. The solution trajectory obtained by the motion
planner is shown in magenta. The video ends by showing the mobile agent
(automobile or snake) moving along the solution trajectory until it reaches the
goal.