179 7.2 CROC comme critère de faisabilité pendant la génération de contacts, 158 7.1.1 Navigation sur sol ,
, Intérêt de CROC pendant la génération de contacts, p.186
187 7.3.1 Planification d'une trajectoire guide ,
, nous allons pouvoir évaluer les performances de chacun des blocs de cette architecture, ainsi que de l'architecture complète. Nous nous intéressons principalement à évaluer la justesse et l'intérêt de l'utilisation de notre méthode CROC comme critère de faisabilité pendant la planification de contact. Nous rappelons que des résultats propres à la planification de trajectoire guide kinodynamique sont présentés à la fin de la première partie de ce manuscrit (section 2.4)
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