3.1.1 Polygonal and Polyhedral Models

In this and the next subsection, a solid representation of will
be developed in terms of a combination of *primitives*. Each
primitive represents a subset of that is easy to
represent and manipulate in a computer. A complicated obstacle region
will be represented by taking finite, Boolean combinations of
primitives. Using set theory, this implies that can also be
defined in terms of a finite number of unions, intersections, and set
differences of primitives.

Steven M LaValle 2012-04-20