High- and Low-Level Planning for Mobile Agents

ions We begin by listing the class abstractions involved in implementing the behavior of both the static and dynamic environments. Our abstractions (classes) include the following: Point, Line, Polygon, (graph) Node, Binary Search Tree, Priority Queue, and Undirected Graph. Both Binary Search Tree and Priority Queue are used for searching in the line intersection function. For the shortest path, an adjacency structure is created to implement the Undirected Graph. A Point holds x and y coordinates, along with a name field. A Line holds the index values of two Points and a name field. A Polygon contains the number of edges, a linked-list of the Points in counterclockwise order, and a name field. Our Binary Search Tree refers to the index of a Point and its x coordinate. The Priority Queue contains elements, each with an index field and y coordinate field. And finally, our Undirected Graph stores a set of Nodes; its edges connect pairs of Nodes.