The roadmap used by sampling-based planning algorithms.

Collaboration diagram for Roadmap:

The roadmap used by sampling-based planning algorithms.

A Roadmap is essentially a graph $G=(V, E)$ which is used to approximate a planning space (either $\mathcal{C}_{free}$ or $\mathcal{C}_{obst}$ ) commonly used by sampling-based motion planning algorithms. $V$ , or the set of vertices, are all Configuration Types and $E$ , or the set of edges, are all Weights.