- 13.1 Defines configuration space
- 13.2 Defines Dijsktra’s and A*
- 13.3 has the meat of this chapter in a description of RRT
- 13.4 explains that you can do path planning with multiple passes
- 13.5 Talks briefly about CPP, and explains that it is in fact NP-hard
- 13.6 Path planning is hard and an active area of research