An octree is a recursive decomposition of a cubic space into subcubes. The octree representation of a workspace has often been used in heuristic path planning approaches that are designed to be efficient. In an octree representation, initially, the root node is used to represent the workspace. If the whole workspace is not completely filled by objects or completely empty, it will be split into eight equal subcubes (octants), which become the children of the root. This process continues until all the nodes are completely filled or not completely empty, or until some resolution limit is researched.
(Sheu, P. C-Y., Kue, Q., Intelligent Robotic Planning Systems, p. 122)
Servomechanisms (Servomechanizm) (March 31, 23:59):
A servomechanism is a power-amplifying feedback control system in which the controlled variable is mechanical position, or a time derivative of position such as velocity or acceleration.
DiStefano, J. J., Stubberud, A. R., Williams, I. J., Feedback and Control Systems, p. 22
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