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This Concept Map, created with IHMC CmapTools, has information related to: Global coarse planner Well-Established Planning Algorithm, Initial&Final Configurations As Input Configuration Space C-Space, Discretiztion of C-Space ???? Max Theta (pitch) [relevant to X8?], Discretiztion of C-Space ???? [theta,psi]=attitude, Discretiztion of C-Space ???? Min turn Radius [relevant to X8?], Node Definition ???? [theta,psi]=attitude, Discretiztion of C-Space ???? [x,y,z]=position, Node Expansion Create Configuration Space C-Space, Configuration Space C-Space Designed Cost A* Search Algorithm, Discretiztion of C-Space ???? Configuration Space C-Space, Node Definition ???? [x,y,z]=position, Node Definition Create Configuration Space C-Space