6.1 Introduction

All of the algorithms presented in this chapter are *complete*,
which means that for any problem instance (over the space of problems
for which the algorithm is designed), the algorithm will either find a
solution or will correctly report that no solution exists. By
contrast, in the case of sampling-based planning algorithms, weaker
notions of completeness were tolerated: resolution completeness and
probabilistic completeness.

Steven M LaValle 2012-04-20