div class=trans-pagebutton class=gotoPage data-page=1Page 1button div class=trans-imagea href=https:reader030fdocumentsinreader030viewer20220313115c0394a609d3f2c12d8cd931html5page1jpg target=_blank img data-url=document-the-transformation-into-configuration-space-once-obstacles-had-been-modelledhtmlpage=1 data-page=1 class=trans-thumb lazyload alt=Page 1: researchportalportacuk · The Transformation into Configuration Space Once obstacles had been modelled the data was processed to transform the obstacles into a configuration space loading=lazy src=data:imagegifbase64iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAQAAAC1HAwCAAAAC0lEQVR42mM8Uw8AAh0BTZud3BwAAAAASUVORK5CYII= data-src=https:reader030fdocumentsinreader030viewer20220313115c0394a609d3f2c12d8cd931html5thumbnails1jpg width=140 height=200 adivdivdiv class=trans-pagebutton class=gotoPage data-page=2Page 2button div class=trans-imagea href=https:reader030fdocumentsinreader030viewer20220313115c0394a609d3f2c12d8cd931html5page2jpg target=_blank img data-url=document-the-transformation-into-configuration-space-once-obstacles-had-been-modelledhtmlpage=2 data-page=2 class=trans-thumb lazyload alt=Page 2: researchportalportacuk · The Transformation into Configuration Space Once obstacles had been modelled the data was processed to transform the obstacles into a configuration space loading=lazy src=data:imagegifbase64iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAQAAAC1HAwCAAAAC0lEQVR42mM8Uw8AAh0BTZud3BwAAAAASUVORK5CYII= data-src=https:reader030fdocumentsinreader030viewer20220313115c0394a609d3f2c12d8cd931html5thumbnails2jpg width=140 height=200 adivdivdiv class=trans-pagebutton class=gotoPage data-page=3Page 3button div class=trans-imagea href=https:reader030fdocumentsinreader030viewer20220313115c0394a609d3f2c12d8cd931html5page3jpg target=_blank img data-url=document-the-transformation-into-configuration-space-once-obstacles-had-been-modelledhtmlpage=3 data-page=3 class=trans-thumb lazyload alt=Page 3: researchportalportacuk · The...