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...Requirements the roadmap is resolution complete small contains useful cycles provides high clearance paths res outline reachability method rrm adding to experiments conclusions current work criteria coverage each free sample can be connected a vertex in graph maximal connectivity for two vertices v if there exists path between and space then paper r geraerts m h overmars creating roadmaps solving motion planning problems mmar pp of algorithm discretizes computes set guards are via connector resulting pruned d nieuwenhuisen probabilistic graphs icra edge k g...