%PDF-1.4 % 4 0 obj << /S /GoTo /D (section.1) >> endobj 7 0 obj (Introduction) endobj 8 0 obj << /S /GoTo /D (section.2) >> endobj 11 0 obj (Problem Formulation) endobj 12 0 obj << /S /GoTo /D (subsection.2.1) >> endobj 15 0 obj (Multiresolution World Representation) endobj 16 0 obj << /S /GoTo /D (subsection.2.2) >> endobj 19 0 obj (The Path-Planning Problem) endobj 20 0 obj << /S /GoTo /D (section.3) >> endobj 23 0 obj (Proposed Algorithm: The multi-scale Path Planning \(MSPP\) Algorithm) endobj 24 0 obj << /S /GoTo /D (subsection.3.1) >> endobj 27 0 obj (Reduced Graph Construction) endobj 28 0 obj << /S /GoTo /D (subsection.3.2) >> endobj 31 0 obj (Backtracking Algorithm) endobj 32 0 obj << /S /GoTo /D (section.4) >> endobj 35 0 obj (Algorithm Properties) endobj 36 0 obj << /S /GoTo /D (subsection.4.1) >> endobj 39 0 obj (Completeness) endobj 40 0 obj << /S /GoTo /D (subsection.4.2) >> endobj 43 0 obj (Complexity) endobj 44 0 obj << /S /GoTo /D (subsubsection.4.2.1) >> endobj 47 0 obj (Finding the reduced graph nodes) endobj 48 0 obj << /S /GoTo /D (subsubsection.4.2.2) >> endobj 51 0 obj (Finding adjacency) endobj 52 0 obj << /S /GoTo /D (subsubsection.4.2.3) >> endobj 55 0 obj (Finding the shortest path) endobj 56 0 obj << /S /GoTo /D (subsection.4.3) >> endobj 59 0 obj (Algorithm Parameter Tuning) endobj 60 0 obj << /S /GoTo /D (subsubsection.4.3.1) >> endobj 63 0 obj (Maximum number of levels of the tree ) endobj 64 0 obj << /S /GoTo /D (subsubsection.4.3.2) >> endobj 67 0 obj (Decomposition parameter ) endobj 68 0 obj << /S /GoTo /D (section.5) >> endobj 71 0 obj (Application to a Mobile Robot) endobj 72 0 obj << /S /GoTo /D (subsection.5.1) >> endobj 75 0 obj (Maps Created From a Vision Sensor) endobj 76 0 obj << /S /GoTo /D (subsection.5.2) >> endobj 79 0 obj (Real-time Application with Unknown Space Exploration) endobj 80 0 obj << /S /GoTo /D (section.6) >> endobj 83 0 obj (Conclusions) endobj 84 0 obj << /S /GoTo /D (section*.9) >> endobj 87 0 obj (References) endobj 88 0 obj << /S /GoTo /D [89 0 R /Fit] >> endobj 91 0 obj << /Length 5002 /Filter /FlateDecode >> stream xڕ[[oȱ~_@Ҽ%8@z^^A1pak,THZꫪ&{FTe]}{UW?-U 㫛ȄAZ&Wyy\Wvjvjv66vǩ;U]5VӃڪr+I]"(R&w?]u״85{}j}_=o* 2-Jly. eַm?4Nߪdh^AG|،ΝW hmʈv{sd6}0qWG;~5$_#5>n㜈V~jtmoFոXaU$Q)-Ӏ,?~84,#*OJַ{4x"vo7 $ޅQbK/X]e(bA%4(XM ܀opY L @(w|y[: 8v$LN{t -큘tz8lMW*%MkbN;TpFe-G}p>*R>=X^4Dk3Q