What are some common errors when setting up motion-planning problems?
Initially, it is quite common to forget that changes to one component may require changes in other components as well. For example, when changing the workspace from 2D to 3D it may also be necessary to change the collision detector, state space, and path generator. Similarly, changes to the state space may require changes to the workspace, collision detector, and path generator, and so on. Also, number of robots should not be greater than the number of moving parts in the workspace, since the geometry of the i-th robot is assumed to be the i-th moving part.
