. Cette-opération-estétonnammentestétonnamment-longue, Pour les exemples les plus simples elle peut prendre presque la moitié du temps de recherche du planificateur. Ceci permet de mettre enévidenceenévidence les performances de la fonction « Valide » de recherche d'existence de chemins

C. 'est-ladernì-eré-etape-du-post-traitement, Elle n'a malheureusement pasétépasété implémentée dans la version actuelle d'aSyMov. Par contre nous avons démontré la faisabilité de cetté etape

. Etat-géométrique, 1.3) : Instance géométrique d'unétatunétat symbolique. Il est représenté par un ensemble de noeuds correspondants aux positions symboliques de l'´ etat d'aSyMov tel qu'il existe un ensemble de mouvements validesàvalidesà travers les roadmaps qui correspondent aux actions précédentes de l'´ etat et qui m` enè a cetétatcetétat géométrique

?. Grasp and . Placement, Espace de recherche o` u l'objet est saisi par un robot et est aussi en position stable. Dans cet espace il est possible de faire des variations continues des positions de prise, chemin trouvé dans Grasp ? Placement pourrâ etre transformé en une séquence fini de mouvements de Transit et de Transfert

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